[ { "id": "hoi4d_121", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.628, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.245]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 121, "action": "pickup", "object": "Bucket", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_130", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.599, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 130, "action": "pickup", "object": "Bucket", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_133", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.563, 1.053]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 133, "action": "putdown", "object": "Bucket", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_134", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.559, 1.090]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 134, "action": "putdown", "object": "Bucket", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_138", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.599, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 138, "action": "putdown", "object": "Bucket", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_139", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.610, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 139, "action": "putdown", "object": "Bucket", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_189", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.514, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 189, "action": "pickup", "object": "Bucket", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_197", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.477, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 197, "action": "pickup", "object": "Bucket", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_198", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.459, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 0.991]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 198, "action": "pickup", "object": "Bucket", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_223", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.516, 1.065]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 223, "action": "pickup", "object": "Bucket", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_224", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.505, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.523, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 224, "action": "putdown", "object": "Bucket", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_248", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T2/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.604, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 0.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 248, "action": "pickup", "object": "Bucket", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_308", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.376, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.293]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 308, "action": "putdown", "object": "Bucket", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_339", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.512, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.545, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.133." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 339, "action": "putdown", "object": "Bucket", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_340", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.513, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.271]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 340, "action": "putdown", "object": "Bucket", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_432", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.539, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.752]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 432, "action": "putdown", "object": "Bowl", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_433", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.547, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 433, "action": "putdown", "object": "Bowl", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_460", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.532, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 1.563]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 460, "action": "open", "object": "Safe", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_461", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.597, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 461, "action": "open", "object": "Safe", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_462", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.572, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 462, "action": "open", "object": "Safe", "frame_index": 44, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_469", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.764, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.372." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 469, "action": "close", "object": "Safe", "frame_index": 134, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_470", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.101]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 470, "action": "close", "object": "Safe", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_473", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.459, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.144, 1.797]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 473, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_485", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.477, 1.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.986, 1.743]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 485, "action": "open", "object": "Safe", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_489", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.599, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 489, "action": "close", "object": "Safe", "frame_index": 137, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_498", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.558, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.169, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.700." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 498, "action": "close", "object": "Safe", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_502", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.754, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.327." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 502, "action": "close", "object": "Safe", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_503", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.832, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 503, "action": "close", "object": "Safe", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_505", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.737, 1.881]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 505, "action": "close", "object": "Safe", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_506", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.724, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 506, "action": "close", "object": "Safe", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_507", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.316, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 507, "action": "close", "object": "Safe", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_509", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.403, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.265, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 509, "action": "close", "object": "Safe", "frame_index": 114, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_510", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.648, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.095, 1.590]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 510, "action": "open", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_511", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.764, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.142, 1.441]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 511, "action": "open", "object": "Safe", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_512", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.496, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.190, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.855." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 512, "action": "open", "object": "Safe", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_513", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.757, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.545." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 513, "action": "close", "object": "Safe", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_514", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.660, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.183, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.801." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 514, "action": "close", "object": "Safe", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_526", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.055, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 526, "action": "open", "object": "Safe", "frame_index": 113, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_527", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.816, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 527, "action": "close", "object": "Safe", "frame_index": 135, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_529", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.744, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.225, 1.156]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 529, "action": "close", "object": "Safe", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_545", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.539, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.578." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 545, "action": "open", "object": "Safe", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_546", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.547, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 546, "action": "open", "object": "Safe", "frame_index": 122, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_547", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.581, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.865, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 547, "action": "open", "object": "Safe", "frame_index": 124, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_552", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.524, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.173, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 552, "action": "close", "object": "Safe", "frame_index": 153, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_554", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.436, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.014, 1.810]). The trajectory involves 5 precise waypoints with total movement distance of 0.823." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 554, "action": "open", "object": "Safe", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_555", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.681, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.342, 1.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 555, "action": "close", "object": "Safe", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_566", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s05_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s05_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s05_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.591, 1.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.184, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 566, "action": "close", "object": "Safe", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_594", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.713, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 594, "action": "close", "object": "Safe", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_595", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 595, "action": "close", "object": "Safe", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_598", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.122, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 598, "action": "close", "object": "Safe", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_599", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.464, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.067]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 599, "action": "close", "object": "Safe", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_601", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.361, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.227, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 601, "action": "close", "object": "Safe", "frame_index": 253, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_602", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.354, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.233, 1.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 602, "action": "close", "object": "Safe", "frame_index": 255, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_607", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.143, 1.911]). The trajectory involves 5 precise waypoints with total movement distance of 0.818." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 607, "action": "open", "object": "Safe", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_608", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.469, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.083, 2.061]). The trajectory involves 5 precise waypoints with total movement distance of 0.784." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 608, "action": "open", "object": "Safe", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_614", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.654, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.310, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.506." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 614, "action": "close", "object": "Safe", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_624", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00131.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.486, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.880, 1.664]). The trajectory involves 5 precise waypoints with total movement distance of 0.552." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 624, "action": "open", "object": "Safe", "frame_index": 133, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_626", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.615, 1.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.147, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.713." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 626, "action": "close", "object": "Safe", "frame_index": 149, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_640", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s01_T1/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s01_T1/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s01_T1/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.850, 1.566]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 640, "action": "open", "object": "Safe", "frame_index": 121, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_656", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s05_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.422, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.003, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.756." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 656, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_667", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.438, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 667, "action": "open", "object": "Safe", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_671", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.617, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.009]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 671, "action": "close", "object": "Safe", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_673", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.494, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 673, "action": "close", "object": "Safe", "frame_index": 142, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_674", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00142.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.562, 1.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 0.947]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 674, "action": "close", "object": "Safe", "frame_index": 144, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_676", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.441, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.710]). The trajectory involves 5 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 676, "action": "open", "object": "Safe", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_678", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.628, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 678, "action": "close", "object": "Safe", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_679", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.553, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.241, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 679, "action": "close", "object": "Safe", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_687", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.794, 1.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.335, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 687, "action": "close", "object": "Safe", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_688", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.835, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 688, "action": "close", "object": "Safe", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_691", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.570, 1.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.569." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 691, "action": "close", "object": "Safe", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_698", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.682, 1.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.208, 1.258]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 698, "action": "close", "object": "Safe", "frame_index": 130, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_701", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.396, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.899, 1.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 701, "action": "open", "object": "Safe", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_710", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.635, 1.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.120, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.668." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 710, "action": "close", "object": "Safe", "frame_index": 142, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_712", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.569, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.220, 1.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 712, "action": "close", "object": "Safe", "frame_index": 146, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_713", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00146.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.557, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.108]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 713, "action": "close", "object": "Safe", "frame_index": 148, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_714", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00149.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 714, "action": "close", "object": "Safe", "frame_index": 150, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_716", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.517, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.977, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 716, "action": "open", "object": "Safe", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_718", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 718, "action": "close", "object": "Safe", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_719", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.668, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 719, "action": "close", "object": "Safe", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_720", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.461, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 720, "action": "open", "object": "Safe", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_721", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.138]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.861, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 721, "action": "open", "object": "Safe", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_722", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.496, 1.162]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.602]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 722, "action": "open", "object": "Safe", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_723", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.185]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.961, 1.554]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 723, "action": "open", "object": "Safe", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_724", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.471, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 724, "action": "open", "object": "Safe", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_725", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.571, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.853, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 725, "action": "open", "object": "Safe", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_726", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.798, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.089]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 726, "action": "close", "object": "Safe", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_727", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.798, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.111]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 727, "action": "close", "object": "Safe", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_728", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.753, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.388, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 728, "action": "close", "object": "Safe", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_729", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.698, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.346, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 729, "action": "close", "object": "Safe", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_730", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.639, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 730, "action": "close", "object": "Safe", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_732", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 732, "action": "close", "object": "Safe", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_733", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.508, 1.199]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.811, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 733, "action": "open", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_734", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.746]). The trajectory involves 5 precise waypoints with total movement distance of 0.713." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 734, "action": "open", "object": "Safe", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_735", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.637." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 735, "action": "open", "object": "Safe", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_736", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.527, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.939, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.613." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 736, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_737", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.488, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 737, "action": "open", "object": "Safe", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_738", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.459, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 738, "action": "open", "object": "Safe", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_739", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.788, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.623." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 739, "action": "close", "object": "Safe", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_740", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.789, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.265, 1.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.720." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 740, "action": "close", "object": "Safe", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_741", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.679, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.071]). The trajectory involves 5 precise waypoints with total movement distance of 0.566." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 741, "action": "close", "object": "Safe", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_742", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.641, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.574." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 742, "action": "close", "object": "Safe", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_743", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.557, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.249, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 743, "action": "close", "object": "Safe", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_745", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.473, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.339." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 745, "action": "close", "object": "Safe", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_747", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.446, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.835, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 747, "action": "open", "object": "Safe", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_748", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.456, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.894, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 748, "action": "open", "object": "Safe", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_749", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.450, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 749, "action": "open", "object": "Safe", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_750", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.447, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 1.749]). The trajectory involves 5 precise waypoints with total movement distance of 0.622." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 750, "action": "open", "object": "Safe", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_751", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.440, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.734]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 751, "action": "open", "object": "Safe", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_752", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.485, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.845, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.461." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 752, "action": "open", "object": "Safe", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_753", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.538, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 753, "action": "open", "object": "Safe", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_754", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.465, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.749]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 754, "action": "open", "object": "Safe", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_755", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.790, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.296]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 755, "action": "close", "object": "Safe", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_756", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.762, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.287, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 756, "action": "close", "object": "Safe", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_758", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.645, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.479." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 758, "action": "close", "object": "Safe", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_760", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 760, "action": "close", "object": "Safe", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_761", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 761, "action": "open", "object": "Safe", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_762", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.949]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 762, "action": "open", "object": "Safe", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_763", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.486, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.933, 1.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.688." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 763, "action": "open", "object": "Safe", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_764", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.445, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 764, "action": "open", "object": "Safe", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_765", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.432, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.957, 1.869]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 765, "action": "open", "object": "Safe", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_766", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.436, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 766, "action": "open", "object": "Safe", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_767", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.488, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.842, 1.693]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 767, "action": "open", "object": "Safe", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_768", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.435, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.840, 1.774]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 768, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_770", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.770, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.248, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 770, "action": "close", "object": "Safe", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_771", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.695, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 771, "action": "close", "object": "Safe", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_773", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.172]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 773, "action": "close", "object": "Safe", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_774", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.509, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.344, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 774, "action": "close", "object": "Safe", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_775", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.480, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 1.237]). The trajectory involves 5 precise waypoints with total movement distance of 0.365." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 775, "action": "close", "object": "Safe", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_776", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.484, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 776, "action": "close", "object": "Safe", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_777", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.486, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.966, 1.908]). The trajectory involves 5 precise waypoints with total movement distance of 0.807." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 777, "action": "open", "object": "Safe", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_778", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.492, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 778, "action": "open", "object": "Safe", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_779", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.847]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 779, "action": "open", "object": "Safe", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_780", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.513, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.767]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 780, "action": "open", "object": "Safe", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_781", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.512, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.742]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 781, "action": "open", "object": "Safe", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_782", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.935, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 782, "action": "open", "object": "Safe", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_783", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.520, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.916, 1.798]). The trajectory involves 5 precise waypoints with total movement distance of 0.452." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 783, "action": "open", "object": "Safe", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_786", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.844, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 786, "action": "close", "object": "Safe", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_787", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.787, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 787, "action": "close", "object": "Safe", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_788", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.745, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.409, 1.224]). The trajectory involves 5 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 788, "action": "close", "object": "Safe", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_789", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.689, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 789, "action": "close", "object": "Safe", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_792", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.562, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.953]). The trajectory involves 5 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 792, "action": "open", "object": "Safe", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_793", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.583, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.991]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 793, "action": "open", "object": "Safe", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_794", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.523, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.937, 2.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.747." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 794, "action": "open", "object": "Safe", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_795", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.485, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.923, 2.087]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 795, "action": "open", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_796", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.491, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.944, 2.012]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 796, "action": "open", "object": "Safe", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_797", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.611, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.847, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 797, "action": "open", "object": "Safe", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_799", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.577, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 799, "action": "open", "object": "Safe", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_800", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.550, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 800, "action": "open", "object": "Safe", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_801", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.572, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 801, "action": "open", "object": "Safe", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_802", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.891, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.770." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 802, "action": "close", "object": "Safe", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_805", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.769, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 0.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.581." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 805, "action": "close", "object": "Safe", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_806", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.708, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 0.932]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 806, "action": "close", "object": "Safe", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_807", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.605, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 0.969]). The trajectory involves 5 precise waypoints with total movement distance of 0.501." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 807, "action": "close", "object": "Safe", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_808", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.540, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 0.945]). The trajectory involves 5 precise waypoints with total movement distance of 0.460." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 808, "action": "close", "object": "Safe", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_810", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.497, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.014]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 810, "action": "close", "object": "Safe", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_811", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.471, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 811, "action": "close", "object": "Safe", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_812", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.509, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.844]). The trajectory involves 5 precise waypoints with total movement distance of 0.820." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 812, "action": "open", "object": "Safe", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_813", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.044, 1.872]). The trajectory involves 5 precise waypoints with total movement distance of 0.880." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 813, "action": "open", "object": "Safe", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_814", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.142, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.884." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 814, "action": "open", "object": "Safe", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_815", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.503, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.057, 1.779]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 815, "action": "open", "object": "Safe", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_816", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.807, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 816, "action": "close", "object": "Safe", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_821", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.480, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.917, 2.036]). The trajectory involves 5 precise waypoints with total movement distance of 0.824." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 821, "action": "open", "object": "Safe", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_822", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.483, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.948, 1.990]). The trajectory involves 5 precise waypoints with total movement distance of 0.822." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 822, "action": "open", "object": "Safe", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_823", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.467, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.806." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 823, "action": "open", "object": "Safe", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_824", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.975, 2.001]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 824, "action": "open", "object": "Safe", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_825", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.448, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.973]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 825, "action": "open", "object": "Safe", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_826", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.514, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.916, 1.794]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 826, "action": "open", "object": "Safe", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_830", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.769, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 830, "action": "close", "object": "Safe", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_832", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.661, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.409, 1.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.526." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 832, "action": "close", "object": "Safe", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_844", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N24_S250_s01_T3/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N24_S250_s01_T3/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N24_S250_s01_T3/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.007, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 844, "action": "open", "object": "Safe", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_875", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.798, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.630." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 875, "action": "close", "object": "Safe", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_882", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.948, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.197, 1.840]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 882, "action": "open", "object": "Safe", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_883", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.823, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.115, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.594." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 883, "action": "open", "object": "Safe", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_885", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.939, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.091]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 885, "action": "close", "object": "Safe", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_897", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.644, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.093]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 897, "action": "close", "object": "Safe", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_899", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.234, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.569." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 899, "action": "close", "object": "Safe", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_914", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.893, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 914, "action": "close", "object": "Safe", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_915", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.896, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 915, "action": "close", "object": "Safe", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_916", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.893, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 916, "action": "close", "object": "Safe", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_917", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.681, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 917, "action": "open", "object": "Safe", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_918", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.838, 1.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 918, "action": "close", "object": "Safe", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_919", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.800, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.443]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 919, "action": "close", "object": "Safe", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1008", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00007.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00008.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00009.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.541, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1008, "action": "open", "object": "Safe", "frame_index": 9, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1023", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.789, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.694, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.102." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1023, "action": "close", "object": "Safe", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1027", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.820, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1027, "action": "close", "object": "Safe", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1043", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.665, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.501, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1043, "action": "close", "object": "Safe", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1046", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.688, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 1.262]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1046, "action": "close", "object": "Safe", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1047", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.687, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1047, "action": "close", "object": "Safe", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1053", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.604, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1053, "action": "close", "object": "Safe", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1054", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.602, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1054, "action": "close", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1056", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.620, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.460, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1056, "action": "close", "object": "Safe", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1057", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.609, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.108]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1057, "action": "close", "object": "Safe", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1071", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.985, 1.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.710, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1071, "action": "close", "object": "Safe", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1072", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.960, 1.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1072, "action": "close", "object": "Safe", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1073", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.882, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1073, "action": "close", "object": "Safe", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1075", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.917, 1.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1075, "action": "close", "object": "Safe", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1076", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.907, 1.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.620]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1076, "action": "close", "object": "Safe", "frame_index": 114, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1078", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.842, 1.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.548, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1078, "action": "close", "object": "Safe", "frame_index": 118, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1079", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.776, 1.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1079, "action": "close", "object": "Safe", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1080", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.740, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1080, "action": "close", "object": "Safe", "frame_index": 121, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1084", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.846, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1084, "action": "close", "object": "Safe", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1085", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.818, 1.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1085, "action": "close", "object": "Safe", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1087", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.756, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.536, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1087, "action": "close", "object": "Safe", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1245", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.589, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1245, "action": "close", "object": "Safe", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1248", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1248, "action": "close", "object": "Safe", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1256", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.344, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1256, "action": "open", "object": "Safe", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1259", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.323, 1.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1259, "action": "open", "object": "Safe", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1266", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.555, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1266, "action": "close", "object": "Safe", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1267", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.552, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1267, "action": "close", "object": "Safe", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1268", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.524, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1268, "action": "close", "object": "Safe", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1269", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1269, "action": "close", "object": "Safe", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1273", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.785, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1273, "action": "close", "object": "Safe", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1274", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.675, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1274, "action": "open", "object": "Safe", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1278", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.442, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1278, "action": "open", "object": "Safe", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1279", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00003.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00004.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00005.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.438, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.500, 1.373]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1279, "action": "open", "object": "Safe", "frame_index": 5, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1281", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00015.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00016.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00017.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.462, 1.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1281, "action": "open", "object": "Safe", "frame_index": 17, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1285", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00029.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.463, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.690, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1285, "action": "open", "object": "Safe", "frame_index": 29, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1286", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00031.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.467, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.711]). The trajectory involves 5 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1286, "action": "open", "object": "Safe", "frame_index": 31, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1297", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.338, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1297, "action": "open", "object": "Safe", "frame_index": 128, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1301", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.369, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.565, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1301, "action": "open", "object": "Safe", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1314", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00024.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00026.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.362, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1314, "action": "open", "object": "Safe", "frame_index": 26, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1315", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00028.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.367, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.501, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1315, "action": "open", "object": "Safe", "frame_index": 28, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1329", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.385, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1329, "action": "open", "object": "Safe", "frame_index": 153, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1331", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.412, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.185, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1331, "action": "close", "object": "Safe", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1332", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.444, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.219, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1332, "action": "close", "object": "Safe", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1333", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.490, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1333, "action": "close", "object": "Safe", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1335", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.489, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.293." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1335, "action": "close", "object": "Safe", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1336", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.476, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1336, "action": "close", "object": "Safe", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1337", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.294, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1337, "action": "close", "object": "Safe", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1340", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.677, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.904, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1340, "action": "open", "object": "Safe", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1341", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.682, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1341, "action": "open", "object": "Safe", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1342", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.754, 1.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1342, "action": "close", "object": "Safe", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1343", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.738, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1343, "action": "close", "object": "Safe", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1348", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.301, 1.201]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1348, "action": "open", "object": "Safe", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1356", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.560, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.364, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1356, "action": "close", "object": "Safe", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1357", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.562, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1357, "action": "close", "object": "Safe", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1358", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.556, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1358, "action": "close", "object": "Safe", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1359", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.344, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1359, "action": "close", "object": "Safe", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1392", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.613, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1392, "action": "close", "object": "Safe", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1393", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.610, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1393, "action": "close", "object": "Safe", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1407", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1407, "action": "close", "object": "Safe", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1408", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.569, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1408, "action": "close", "object": "Safe", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1409", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1409, "action": "close", "object": "Safe", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1410", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.581, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1410, "action": "close", "object": "Safe", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1411", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.586, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.315]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1411, "action": "close", "object": "Safe", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1413", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.771, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1413, "action": "close", "object": "Safe", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1415", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.742, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.272]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1415, "action": "close", "object": "Safe", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1417", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.653, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.853, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1417, "action": "open", "object": "Safe", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1496", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.484, 1.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.446." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1496, "action": "open", "object": "Safe", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1501", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.754, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1501, "action": "close", "object": "Safe", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1502", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.758, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1502, "action": "close", "object": "Safe", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1503", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.759, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1503, "action": "close", "object": "Safe", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1504", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.761, 1.234]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1504, "action": "close", "object": "Safe", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1505", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.746, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.038]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1505, "action": "close", "object": "Safe", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1508", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.461, 1.015]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1508, "action": "open", "object": "Safe", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1511", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.723, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 1.030]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1511, "action": "close", "object": "Safe", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1512", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.727, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.438, 1.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1512, "action": "close", "object": "Safe", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1513", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.707, 1.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1513, "action": "close", "object": "Safe", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1514", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.724, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1514, "action": "close", "object": "Safe", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1515", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.710, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 0.969]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1515, "action": "close", "object": "Safe", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1517", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.598, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.858, 1.278]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1517, "action": "open", "object": "Safe", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1520", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.742, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1520, "action": "close", "object": "Safe", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1521", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.630, 1.108]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.950, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.456." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1521, "action": "open", "object": "Safe", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1532", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.622, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.083]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1532, "action": "close", "object": "Safe", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1542", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.464, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.643, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1542, "action": "open", "object": "Safe", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1543", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.472, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.634, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1543, "action": "open", "object": "Safe", "frame_index": 44, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1545", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.600, 1.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1545, "action": "close", "object": "Safe", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1546", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.615, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1546, "action": "close", "object": "Safe", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1547", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.586, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1547, "action": "close", "object": "Safe", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1548", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.594, 1.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.310." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1548, "action": "close", "object": "Safe", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1549", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.592, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1549, "action": "close", "object": "Safe", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1550", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.587, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1550, "action": "close", "object": "Safe", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1557", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.403, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1557, "action": "open", "object": "Safe", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1559", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.634, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.602]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1559, "action": "close", "object": "Safe", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1561", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.633, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.352, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.355." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1561, "action": "close", "object": "Safe", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1567", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.756, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.872, 1.269]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1567, "action": "open", "object": "Safe", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1568", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.795, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1568, "action": "close", "object": "Safe", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1569", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.788, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1569, "action": "close", "object": "Safe", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1572", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.795, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.301]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1572, "action": "open", "object": "Safe", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1582", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.900, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1582, "action": "close", "object": "Safe", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1601", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.762, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1601, "action": "close", "object": "Safe", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1603", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.775, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1603, "action": "close", "object": "Safe", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1606", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.802, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1606, "action": "close", "object": "Safe", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1607", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.809, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1607, "action": "close", "object": "Safe", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1625", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.759, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 1.366]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1625, "action": "close", "object": "Safe", "frame_index": 252, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1641", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.779, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.862, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1641, "action": "open", "object": "Safe", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1642", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.769, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.882, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1642, "action": "open", "object": "Safe", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1648", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.689, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1648, "action": "open", "object": "Safe", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1653", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.818, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.073, 1.404]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1653, "action": "open", "object": "Safe", "frame_index": 158, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1658", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.720, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.964, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.355." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1658, "action": "open", "object": "Safe", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1659", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00039.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.751, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.990, 1.569]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1659, "action": "open", "object": "Safe", "frame_index": 39, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1660", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.781, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.968, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1660, "action": "open", "object": "Safe", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1662", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.757, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.961, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1662, "action": "open", "object": "Safe", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1663", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.750, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.927, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1663, "action": "open", "object": "Safe", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1664", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.774, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.719, 1.478]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1664, "action": "close", "object": "Safe", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1665", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.698, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1665, "action": "open", "object": "Safe", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1667", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.675, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.870, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.329." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1667, "action": "open", "object": "Safe", "frame_index": 166, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1668", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.672, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.683]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1668, "action": "open", "object": "Safe", "frame_index": 168, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1669", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.672, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.365." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1669, "action": "open", "object": "Safe", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1670", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.678, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.910, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1670, "action": "open", "object": "Safe", "frame_index": 172, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1671", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.693, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1671, "action": "open", "object": "Safe", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1672", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.750, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.569, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1672, "action": "close", "object": "Safe", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1681", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C6_N01_S249_s01_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S249_s01_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C6_N01_S249_s01_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.853, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.753, 1.325]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1681, "action": "close", "object": "Safe", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_1689", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.611, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.288]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1689, "action": "putdown", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1691", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.607, 1.159]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1691, "action": "putdown", "object": "Bottle", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1705", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.625, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.592, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1705, "action": "carry", "object": "Bottle", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1770", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.625, 1.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.341, 2.090]). The trajectory involves 5 precise waypoints with total movement distance of 0.831." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1770, "action": "carry", "object": "Bottle", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1771", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.568, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.348, 2.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.908." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1771, "action": "carry", "object": "Bottle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1772", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.348, 2.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.904." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1772, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1781", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.613, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1781, "action": "putdown", "object": "Bottle", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1783", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.606, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1783, "action": "carry", "object": "Bottle", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1790", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N28_S113_s02_T5/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N28_S113_s02_T5/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N28_S113_s02_T5/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.601, 1.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.281, 2.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.814." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1790, "action": "carry", "object": "Bottle", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1800", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.546, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.990, 1.556]). The trajectory involves 5 precise waypoints with total movement distance of 0.586." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1800, "action": "carry", "object": "Bottle", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1805", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.478, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1805, "action": "putdown", "object": "Bottle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1811", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N26_S113_s01_T1/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N26_S113_s01_T1/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N26_S113_s01_T1/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.525, 1.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1811, "action": "pickup", "object": "Bottle", "frame_index": 149, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1828", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N20_S109_s03_T5/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N20_S109_s03_T5/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N20_S109_s03_T5/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.460, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.032, 2.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.799." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1828, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1853", "task": "carry the Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T5/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T5/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T5/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.530, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.331, 1.962]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1853, "action": "carry", "object": "Bottle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1861", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T1/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T1/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.471, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1861, "action": "pickup", "object": "Bottle", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1931", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N14_S56_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N14_S56_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N14_S56_s02_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.558, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1931, "action": "putdown", "object": "Bottle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1963", "task": "pickup Bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N13_S56_s01_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N13_S56_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N13_S56_s01_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pickup Bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pickup Bottle, execute the following phases: 1) Initial approach phase (start at [1.764, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1963, "action": "carry", "object": "Bottle", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1985", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.854, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.862, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.141." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1985, "action": "pickup", "object": "Bottle", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1991", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.789, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1991, "action": "putdown", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1992", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.782, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.791, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1992, "action": "putdown", "object": "Bottle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_1993", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.810, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.659]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 1993, "action": "putdown", "object": "Bottle", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_2008", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.863, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.898, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2008, "action": "pickup", "object": "Bottle", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_2010", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.844, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.882, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2010, "action": "pickup", "object": "Bottle", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_2011", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.838, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2011, "action": "pickup", "object": "Bottle", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_2012", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.834, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.859, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2012, "action": "pickup", "object": "Bottle", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_2077", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.656, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2077, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2078", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00011.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00012.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00013.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.655, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.349." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2078, "action": "open", "object": "Storage Furniture", "frame_index": 13, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2079", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00027.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.724, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.428." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2079, "action": "open", "object": "Storage Furniture", "frame_index": 27, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2083", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.840, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 2.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.908." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2083, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2084", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.849, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 2.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2084, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2085", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.826, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.396, 2.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.885." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2085, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2086", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.390, 2.101]). The trajectory involves 5 precise waypoints with total movement distance of 0.773." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2086, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2087", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.758, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 2.004]). The trajectory involves 5 precise waypoints with total movement distance of 0.688." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2087, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2088", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.717, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2088, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2095", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.576." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2095, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2100", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.808, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.658]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2100, "action": "open", "object": "Storage Furniture", "frame_index": 153, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2101", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.812, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.648]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2101, "action": "open", "object": "Storage Furniture", "frame_index": 163, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2103", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.786, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.731]). The trajectory involves 5 precise waypoints with total movement distance of 0.410." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2103, "action": "open", "object": "Storage Furniture", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2105", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.816, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.727]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2105, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2107", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.850, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.984]). The trajectory involves 5 precise waypoints with total movement distance of 0.792." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2107, "action": "open", "object": "Storage Furniture", "frame_index": 200, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2108", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.856, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 2.117]). The trajectory involves 5 precise waypoints with total movement distance of 0.955." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2108, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2109", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.873, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 2.187]). The trajectory involves 5 precise waypoints with total movement distance of 1.075." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2109, "action": "open", "object": "Storage Furniture", "frame_index": 204, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2112", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.250, 2.049]). The trajectory involves 5 precise waypoints with total movement distance of 0.896." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2112, "action": "open", "object": "Storage Furniture", "frame_index": 210, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2113", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.256, 2.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.959." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2113, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2120", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.354, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 0.936]). The trajectory involves 5 precise waypoints with total movement distance of 0.650." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2120, "action": "close", "object": "Storage Furniture", "frame_index": 245, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2121", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.415, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.848, 0.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2121, "action": "close", "object": "Storage Furniture", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2129", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2129, "action": "close", "object": "Storage Furniture", "frame_index": 116, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2130", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.454, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.294]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2130, "action": "close", "object": "Storage Furniture", "frame_index": 118, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2155", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.046, 2.225]). The trajectory involves 5 precise waypoints with total movement distance of 1.256." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2155, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2158", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.833, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.850, 2.231]). The trajectory involves 5 precise waypoints with total movement distance of 1.393." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2158, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2159", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.764, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.888, 2.164]). The trajectory involves 5 precise waypoints with total movement distance of 1.187." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2159, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2160", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.747, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.919, 2.016]). The trajectory involves 5 precise waypoints with total movement distance of 1.103." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2160, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2161", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.654, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.150, 1.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.747." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2161, "action": "open", "object": "Storage Furniture", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2171", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.713, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 2.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.796." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2171, "action": "open", "object": "Storage Furniture", "frame_index": 155, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2172", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.715, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 2.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.821." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2172, "action": "open", "object": "Storage Furniture", "frame_index": 165, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2173", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.735, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 2.062]). The trajectory involves 5 precise waypoints with total movement distance of 0.869." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2173, "action": "open", "object": "Storage Furniture", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2174", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.745, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 2.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.941." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2174, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2175", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 2.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.942." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2175, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2176", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.921, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.240, 2.224]). The trajectory involves 5 precise waypoints with total movement distance of 1.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2176, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2177", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.917, 1.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.207, 2.302]). The trajectory involves 5 precise waypoints with total movement distance of 1.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2177, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2178", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.810, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.132, 2.108]). The trajectory involves 5 precise waypoints with total movement distance of 1.096." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2178, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2179", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.774, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.078, 2.015]). The trajectory involves 5 precise waypoints with total movement distance of 0.988." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2179, "action": "open", "object": "Storage Furniture", "frame_index": 205, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2180", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.750, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.076, 2.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.938." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2180, "action": "open", "object": "Storage Furniture", "frame_index": 207, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2190", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S223_s03_T4/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S223_s03_T4/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S223_s03_T4/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.637, 1.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 2.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.876." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2190, "action": "open", "object": "Storage Furniture", "frame_index": 182, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2207", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.515, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2207, "action": "close", "object": "Storage Furniture", "frame_index": 145, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2209", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.505, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.499, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2209, "action": "close", "object": "Storage Furniture", "frame_index": 149, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2210", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00149.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 0.430." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2210, "action": "close", "object": "Storage Furniture", "frame_index": 151, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2221", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.732, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2221, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2222", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00012.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00013.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00014.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.752, 1.092]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2222, "action": "open", "object": "Storage Furniture", "frame_index": 14, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2223", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00029.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.725, 1.153]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.598]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2223, "action": "open", "object": "Storage Furniture", "frame_index": 29, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2224", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.797, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.193, 1.883]). The trajectory involves 5 precise waypoints with total movement distance of 0.961." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2224, "action": "open", "object": "Storage Furniture", "frame_index": 44, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2226", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.864, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.172, 2.137]). The trajectory involves 5 precise waypoints with total movement distance of 1.088." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2226, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2227", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.841, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.177, 2.156]). The trajectory involves 5 precise waypoints with total movement distance of 1.032." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2227, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2229", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.831, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.045, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.979." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2229, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2230", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.814, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.113, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.862." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2230, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2231", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.099, 1.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.644." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2231, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2232", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.122, 1.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2232, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2237", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.785, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 2.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2237, "action": "open", "object": "Storage Furniture", "frame_index": 140, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2240", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.787, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.272, 2.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.926." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2240, "action": "open", "object": "Storage Furniture", "frame_index": 168, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2241", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.989, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 2.348]). The trajectory involves 5 precise waypoints with total movement distance of 1.282." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2241, "action": "open", "object": "Storage Furniture", "frame_index": 178, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2246", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.069, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.764, 1.230]). The trajectory involves 5 precise waypoints with total movement distance of 0.816." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2246, "action": "close", "object": "Storage Furniture", "frame_index": 207, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2247", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.137, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2247, "action": "close", "object": "Storage Furniture", "frame_index": 209, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2254", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.626, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 2.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2254, "action": "open", "object": "Storage Furniture", "frame_index": 187, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2258", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.630, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 2.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.754." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2258, "action": "open", "object": "Storage Furniture", "frame_index": 195, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2271", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.507, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.049]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2271, "action": "close", "object": "Storage Furniture", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2272", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.658, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.675, 1.012]). The trajectory involves 5 precise waypoints with total movement distance of 0.519." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2272, "action": "close", "object": "Storage Furniture", "frame_index": 140, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2273", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.445, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.061]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2273, "action": "close", "object": "Storage Furniture", "frame_index": 142, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2299", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.450, 1.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.948, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2299, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2305", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.798, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 2.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2305, "action": "open", "object": "Storage Furniture", "frame_index": 172, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2306", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.897, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2306, "action": "open", "object": "Storage Furniture", "frame_index": 184, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2307", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.934, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 2.142]). The trajectory involves 5 precise waypoints with total movement distance of 1.070." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2307, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2308", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.980, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.199, 2.244]). The trajectory involves 5 precise waypoints with total movement distance of 1.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2308, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2310", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.935, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.134, 2.141]). The trajectory involves 5 precise waypoints with total movement distance of 1.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2310, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2321", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.453, 1.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2321, "action": "close", "object": "Storage Furniture", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2333", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.723, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.736, 2.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.898." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2333, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2335", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.687, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 2.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.878." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2335, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2339", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.624, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 2.006]). The trajectory involves 5 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2339, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2345", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.487, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.508, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2345, "action": "close", "object": "Storage Furniture", "frame_index": 123, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2346", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.477, 1.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.025]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2346, "action": "close", "object": "Storage Furniture", "frame_index": 125, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2347", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.438, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.113]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2347, "action": "close", "object": "Storage Furniture", "frame_index": 127, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2348", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.432, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.438, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2348, "action": "close", "object": "Storage Furniture", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2349", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00130.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.441, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.172]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2349, "action": "close", "object": "Storage Furniture", "frame_index": 131, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2368", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2368, "action": "open", "object": "Storage Furniture", "frame_index": 36, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2369", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.870, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.530, 1.930]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2369, "action": "open", "object": "Storage Furniture", "frame_index": 48, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2372", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.989, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 2.135]). The trajectory involves 5 precise waypoints with total movement distance of 1.118." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2372, "action": "open", "object": "Storage Furniture", "frame_index": 54, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2374", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.966, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.078, 2.094]). The trajectory involves 5 precise waypoints with total movement distance of 1.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2374, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2377", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.767, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.040, 1.879]). The trajectory involves 5 precise waypoints with total movement distance of 0.879." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2377, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2378", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.665, 1.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.097, 1.956]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2378, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2379", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.634, 1.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.091, 1.907]). The trajectory involves 5 precise waypoints with total movement distance of 0.620." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2379, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2381", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.236, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.551]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2381, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2386", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.379, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.873, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2386, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2393", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.689, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.118, 2.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.923." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2393, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2399", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.770, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.129, 1.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2399, "action": "open", "object": "Storage Furniture", "frame_index": 206, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2400", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.181, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2400, "action": "close", "object": "Storage Furniture", "frame_index": 228, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2404", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.212]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2404, "action": "close", "object": "Storage Furniture", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2406", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.409, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2406, "action": "close", "object": "Storage Furniture", "frame_index": 240, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2414", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.771, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.786, 2.095]). The trajectory involves 5 precise waypoints with total movement distance of 0.698." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2414, "action": "open", "object": "Storage Furniture", "frame_index": 180, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2417", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.693, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 2.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.754." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2417, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2418", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 2.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2418, "action": "open", "object": "Storage Furniture", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2419", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.656, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 2.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2419, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2453", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.891, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 2.170]). The trajectory involves 5 precise waypoints with total movement distance of 1.071." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2453, "action": "open", "object": "Storage Furniture", "frame_index": 51, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2454", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.885, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.205, 1.893]). The trajectory involves 5 precise waypoints with total movement distance of 0.994." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2454, "action": "open", "object": "Storage Furniture", "frame_index": 53, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2455", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.841, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.220, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.845." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2455, "action": "open", "object": "Storage Furniture", "frame_index": 55, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2457", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.179, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2457, "action": "close", "object": "Storage Furniture", "frame_index": 79, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2460", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.177, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.802, 1.082]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2460, "action": "close", "object": "Storage Furniture", "frame_index": 85, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2464", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2464, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2466", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00142.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.863, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.926]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2466, "action": "open", "object": "Storage Furniture", "frame_index": 143, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2468", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.869, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 2.020]). The trajectory involves 5 precise waypoints with total movement distance of 1.062." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2468, "action": "open", "object": "Storage Furniture", "frame_index": 162, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2477", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.205, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 0.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.775." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2477, "action": "close", "object": "Storage Furniture", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2479", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.331, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2479, "action": "close", "object": "Storage Furniture", "frame_index": 211, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2493", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.655, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.632, 2.492]). The trajectory involves 5 precise waypoints with total movement distance of 0.989." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2493, "action": "open", "object": "Storage Furniture", "frame_index": 187, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2494", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.651, 1.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 2.536]). The trajectory involves 5 precise waypoints with total movement distance of 1.005." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2494, "action": "open", "object": "Storage Furniture", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2495", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.661, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 2.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2495, "action": "open", "object": "Storage Furniture", "frame_index": 191, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2497", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.610, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 2.150]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2497, "action": "open", "object": "Storage Furniture", "frame_index": 195, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2505", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.501, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.436." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2505, "action": "close", "object": "Storage Furniture", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2507", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.495, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.009]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2507, "action": "close", "object": "Storage Furniture", "frame_index": 124, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2508", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.515, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.012]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2508, "action": "close", "object": "Storage Furniture", "frame_index": 126, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2509", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2509, "action": "close", "object": "Storage Furniture", "frame_index": 128, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2510", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.499, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 0.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.571." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2510, "action": "close", "object": "Storage Furniture", "frame_index": 130, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2514", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.466, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.516, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.395." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2514, "action": "close", "object": "Storage Furniture", "frame_index": 137, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2533", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.967, 1.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.289, 2.232]). The trajectory involves 5 precise waypoints with total movement distance of 1.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2533, "action": "open", "object": "Storage Furniture", "frame_index": 48, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2547", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.799, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 1.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.645." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2547, "action": "open", "object": "Storage Furniture", "frame_index": 149, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2549", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.862, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.698, 1.950]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2549, "action": "open", "object": "Storage Furniture", "frame_index": 175, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2581", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N42_S223_s01_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S223_s01_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N42_S223_s01_T4/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 2.142]). The trajectory involves 5 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2581, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2610", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.693, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2610, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2611", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00014.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00015.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00016.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.690, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2611, "action": "open", "object": "Storage Furniture", "frame_index": 16, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2612", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00032.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2612, "action": "open", "object": "Storage Furniture", "frame_index": 32, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2613", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.721, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 2.268]). The trajectory involves 5 precise waypoints with total movement distance of 0.791." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2613, "action": "open", "object": "Storage Furniture", "frame_index": 48, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2617", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.856, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.260, 2.058]). The trajectory involves 5 precise waypoints with total movement distance of 1.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2617, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2623", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.259, 1.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2623, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2631", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.624, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.314]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2631, "action": "close", "object": "Storage Furniture", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2633", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.773, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 2.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.713." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2633, "action": "open", "object": "Storage Furniture", "frame_index": 161, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2634", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.757, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 2.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2634, "action": "open", "object": "Storage Furniture", "frame_index": 173, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2635", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.728, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 2.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2635, "action": "open", "object": "Storage Furniture", "frame_index": 185, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2636", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.772, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.443, 2.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.733." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2636, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2637", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.794, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 2.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.895." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2637, "action": "open", "object": "Storage Furniture", "frame_index": 209, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2638", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.176, 2.203]). The trajectory involves 5 precise waypoints with total movement distance of 1.049." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2638, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2639", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.855, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.083, 2.330]). The trajectory involves 5 precise waypoints with total movement distance of 1.259." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2639, "action": "open", "object": "Storage Furniture", "frame_index": 213, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2644", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.196, 1.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.790]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2644, "action": "close", "object": "Storage Furniture", "frame_index": 242, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2647", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.253, 1.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.770]). The trajectory involves 5 precise waypoints with total movement distance of 0.175." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2647, "action": "close", "object": "Storage Furniture", "frame_index": 248, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2658", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00130.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.581, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 2.441]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2658, "action": "open", "object": "Storage Furniture", "frame_index": 131, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2659", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00131.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.559, 1.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 2.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2659, "action": "open", "object": "Storage Furniture", "frame_index": 133, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2660", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 2.190]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2660, "action": "open", "object": "Storage Furniture", "frame_index": 135, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2661", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.528, 1.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 2.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2661, "action": "open", "object": "Storage Furniture", "frame_index": 136, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Drawer", "Body of the Cabinet" ] } }, { "id": "hoi4d_2672", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.509, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2672, "action": "close", "object": "Storage Furniture", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2673", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.543, 1.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2673, "action": "close", "object": "Storage Furniture", "frame_index": 119, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2674", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.529, 1.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2674, "action": "close", "object": "Storage Furniture", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2690", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.352, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.926]). The trajectory involves 5 precise waypoints with total movement distance of 0.699." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2690, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2691", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.303, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.737, 2.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.809." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2691, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2692", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.323, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.786, 1.923]). The trajectory involves 5 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2692, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2693", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.261, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.803, 1.939]). The trajectory involves 5 precise waypoints with total movement distance of 0.855." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2693, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door", "Drawer" ] } }, { "id": "hoi4d_2694", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.348, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 1.863]). The trajectory involves 5 precise waypoints with total movement distance of 0.685." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2694, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2695", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.413, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.728]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2695, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2701", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.187, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2701, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2702", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.410, 1.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.897, 1.859]). The trajectory involves 5 precise waypoints with total movement distance of 0.870." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2702, "action": "open", "object": "Storage Furniture", "frame_index": 194, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2703", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.396, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.908, 1.857]). The trajectory involves 5 precise waypoints with total movement distance of 0.886." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2703, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2704", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.415, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.988, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2704, "action": "open", "object": "Storage Furniture", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2705", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.390, 1.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.933, 1.808]). The trajectory involves 5 precise waypoints with total movement distance of 0.817." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2705, "action": "open", "object": "Storage Furniture", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2716", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N40_S217_s03_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S217_s03_T3/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N40_S217_s03_T3/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.418]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2716, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2730", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.413, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.737, 1.908]). The trajectory involves 5 precise waypoints with total movement distance of 0.775." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2730, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2731", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.412, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 1.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.780." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2731, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2732", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.821, 1.870]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2732, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2733", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.331, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2733, "action": "open", "object": "Storage Furniture", "frame_index": 71, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2734", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.725, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2734, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2735", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.679, 1.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2735, "action": "close", "object": "Storage Furniture", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2736", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.651, 1.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.232, 1.159]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2736, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2737", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2737, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2738", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.302, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.562." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2738, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2741", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.409, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.875]). The trajectory involves 5 precise waypoints with total movement distance of 0.852." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2741, "action": "open", "object": "Storage Furniture", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2742", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.382, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.906]). The trajectory involves 5 precise waypoints with total movement distance of 0.872." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2742, "action": "open", "object": "Storage Furniture", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2743", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.390, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.911, 1.846]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2743, "action": "open", "object": "Storage Furniture", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2744", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.393, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.917, 1.818]). The trajectory involves 5 precise waypoints with total movement distance of 0.761." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2744, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_2777", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N36_S217_s02_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N36_S217_s02_T3/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N36_S217_s02_T3/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.456, 1.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.357." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2777, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2808", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N35_S221_s04_T4/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N35_S221_s04_T4/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N35_S221_s04_T4/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.525, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.943]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2808, "action": "open", "object": "Storage Furniture", "frame_index": 181, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2814", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.501, 1.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.539, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2814, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_2815", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2815, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2846", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.560, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 1.870]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2846, "action": "open", "object": "Storage Furniture", "frame_index": 165, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2848", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.545, 1.901]). The trajectory involves 5 precise waypoints with total movement distance of 0.418." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2848, "action": "open", "object": "Storage Furniture", "frame_index": 169, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_2849", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.613, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.347." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 2849, "action": "open", "object": "Storage Furniture", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3023", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S254_s04_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S254_s04_T1/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S254_s04_T1/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.640, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.617, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3023, "action": "close", "object": "Storage Furniture", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3033", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 2.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.542." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3033, "action": "open", "object": "Storage Furniture", "frame_index": 188, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3034", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.459, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 2.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3034, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3035", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 2.038]). The trajectory involves 5 precise waypoints with total movement distance of 0.506." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3035, "action": "open", "object": "Storage Furniture", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3036", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.585, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3036, "action": "open", "object": "Storage Furniture", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3037", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.722, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.736, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3037, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3046", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.730, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.161, 2.354]). The trajectory involves 5 precise waypoints with total movement distance of 1.028." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3046, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3048", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.778, 1.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.916, 2.479]). The trajectory involves 5 precise waypoints with total movement distance of 1.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3048, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3049", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.507, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.008, 2.019]). The trajectory involves 5 precise waypoints with total movement distance of 0.623." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3049, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3050", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.044, 2.003]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.779, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3050, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3051", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.070, 2.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.857, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.946." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3051, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3052", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.128, 2.045]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.892, 1.526]). The trajectory involves 5 precise waypoints with total movement distance of 0.975." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3052, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3053", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.189, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.721, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3053, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3055", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.230, 1.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3055, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3056", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.229, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3056, "action": "close", "object": "Storage Furniture", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3058", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.311, 1.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.555, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 0.456." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3058, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3063", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.544, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.026, 1.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3063, "action": "open", "object": "Storage Furniture", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3064", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.526, 1.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.069, 1.940]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3064, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3065", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.503, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.080, 1.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3065, "action": "open", "object": "Storage Furniture", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3066", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.118, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3066, "action": "close", "object": "Storage Furniture", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3070", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.206, 1.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3070, "action": "close", "object": "Storage Furniture", "frame_index": 242, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3072", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.307, 1.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3072, "action": "close", "object": "Storage Furniture", "frame_index": 246, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3073", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.353, 1.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.477." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3073, "action": "close", "object": "Storage Furniture", "frame_index": 248, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3077", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.565, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3077, "action": "close", "object": "Storage Furniture", "frame_index": 256, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3079", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.751, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.958, 2.445]). The trajectory involves 5 precise waypoints with total movement distance of 1.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3079, "action": "open", "object": "Storage Furniture", "frame_index": 57, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3081", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.739, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.968, 2.456]). The trajectory involves 5 precise waypoints with total movement distance of 1.222." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3081, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3082", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.332, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.942, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3082, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3083", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.820, 2.374]). The trajectory involves 5 precise waypoints with total movement distance of 1.092." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3083, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3084", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.740, 2.356]). The trajectory involves 5 precise waypoints with total movement distance of 1.042." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3084, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3085", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.292, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.829, 1.801]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3085, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3086", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.854, 1.994]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.758, 1.395]). The trajectory involves 5 precise waypoints with total movement distance of 1.139." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3086, "action": "close", "object": "Storage Furniture", "frame_index": 90, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3087", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.950, 2.003]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.780, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3087, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3088", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.145, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.428, 1.404]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3088, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3089", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.113, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3089, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3091", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.117, 1.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.492." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3091, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3094", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.714, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.060, 2.517]). The trajectory involves 5 precise waypoints with total movement distance of 1.224." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3094, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3095", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.987, 2.404]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3095, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3096", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.741, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 2.590]). The trajectory involves 5 precise waypoints with total movement distance of 1.458." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3096, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3097", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.702, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.815, 2.578]). The trajectory involves 5 precise waypoints with total movement distance of 1.311." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3097, "action": "open", "object": "Storage Furniture", "frame_index": 205, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3098", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.637, 1.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 2.537]). The trajectory involves 5 precise waypoints with total movement distance of 1.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3098, "action": "open", "object": "Storage Furniture", "frame_index": 207, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3101", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.778, 1.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3101, "action": "open", "object": "Storage Furniture", "frame_index": 213, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3102", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.249, 1.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.797, 1.867]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3102, "action": "open", "object": "Storage Furniture", "frame_index": 214, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3103", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.883, 2.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 1.112." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3103, "action": "close", "object": "Storage Furniture", "frame_index": 236, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3104", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.037, 1.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.418, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3104, "action": "close", "object": "Storage Furniture", "frame_index": 238, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3105", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.073, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3105, "action": "close", "object": "Storage Furniture", "frame_index": 240, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3111", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.664, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 2.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3111, "action": "open", "object": "Storage Furniture", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3113", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.786, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.853, 1.920]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3113, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3119", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.425, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.407." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3119, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3124", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.761, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 2.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3124, "action": "open", "object": "Storage Furniture", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3125", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.762, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 2.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3125, "action": "open", "object": "Storage Furniture", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3126", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.755, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 2.089]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3126, "action": "open", "object": "Storage Furniture", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3127", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.704, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.725, 2.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3127, "action": "open", "object": "Storage Furniture", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3132", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.728, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3132, "action": "close", "object": "Storage Furniture", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3133", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.800, 1.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.751, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3133, "action": "close", "object": "Storage Furniture", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3136", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.678, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3136, "action": "close", "object": "Storage Furniture", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3140", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.767, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.205, 2.508]). The trajectory involves 5 precise waypoints with total movement distance of 1.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3140, "action": "open", "object": "Storage Furniture", "frame_index": 56, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3141", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.512, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.093, 2.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3141, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3142", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.772, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 2.456]). The trajectory involves 5 precise waypoints with total movement distance of 1.506." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3142, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3146", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.931, 1.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 1.028." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3146, "action": "close", "object": "Storage Furniture", "frame_index": 88, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3147", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.963, 1.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 1.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3147, "action": "close", "object": "Storage Furniture", "frame_index": 90, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3148", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.033, 2.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.774, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.991." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3148, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3149", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.103, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3149, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3155", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.776, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.825, 2.723]). The trajectory involves 5 precise waypoints with total movement distance of 1.549." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3155, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3159", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.429, 1.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.904, 2.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3159, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3160", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.850, 2.131]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.479]). The trajectory involves 5 precise waypoints with total movement distance of 1.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3160, "action": "close", "object": "Storage Furniture", "frame_index": 233, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3161", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.918, 2.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.481]). The trajectory involves 5 precise waypoints with total movement distance of 1.091." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3161, "action": "close", "object": "Storage Furniture", "frame_index": 235, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3163", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.109, 1.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.453, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3163, "action": "close", "object": "Storage Furniture", "frame_index": 239, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3166", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3166, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3167", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.777, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.914]). The trajectory involves 5 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3167, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3168", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.813, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.818, 1.874]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3168, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3169", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.805, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.863]). The trajectory involves 5 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3169, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3170", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.831]). The trajectory involves 5 precise waypoints with total movement distance of 0.402." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3170, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3171", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.787, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 1.116]). The trajectory involves 5 precise waypoints with total movement distance of 0.377." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3171, "action": "close", "object": "Storage Furniture", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3172", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.749, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.759, 1.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.396." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3172, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3173", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.702, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.716, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3173, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3174", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.195]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3174, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3175", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.695, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 2.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.492." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3175, "action": "open", "object": "Storage Furniture", "frame_index": 184, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3176", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.694, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.697, 2.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3176, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3178", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.819, 1.957]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3178, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3179", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.701, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 1.930]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3179, "action": "open", "object": "Storage Furniture", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3182", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.512, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3182, "action": "close", "object": "Storage Furniture", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3183", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.729, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3183, "action": "close", "object": "Storage Furniture", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3185", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.654, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3185, "action": "close", "object": "Storage Furniture", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3186", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3186, "action": "close", "object": "Storage Furniture", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3252", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.633, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3252, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3258", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.608, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 2.086]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3258, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3259", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.602, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 2.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3259, "action": "open", "object": "Storage Furniture", "frame_index": 192, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3277", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.640, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.999, 2.310]). The trajectory involves 5 precise waypoints with total movement distance of 0.985." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3277, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3279", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.563, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.011, 2.260]). The trajectory involves 5 precise waypoints with total movement distance of 0.802." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3279, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3280", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.099, 1.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3280, "action": "close", "object": "Storage Furniture", "frame_index": 85, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3281", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.149, 1.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.167]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3281, "action": "close", "object": "Storage Furniture", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3282", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.187, 1.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.144]). The trajectory involves 5 precise waypoints with total movement distance of 0.829." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3282, "action": "close", "object": "Storage Furniture", "frame_index": 89, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3283", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.226, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3283, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3284", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.300, 1.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.135]). The trajectory involves 5 precise waypoints with total movement distance of 0.727." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3284, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3285", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.311, 1.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.674." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3285, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3286", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.848, 2.469]). The trajectory involves 5 precise waypoints with total movement distance of 1.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3286, "action": "open", "object": "Storage Furniture", "frame_index": 178, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3288", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.638, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.903, 2.347]). The trajectory involves 5 precise waypoints with total movement distance of 1.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3288, "action": "open", "object": "Storage Furniture", "frame_index": 182, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3290", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.044, 1.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.785." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3290, "action": "close", "object": "Storage Furniture", "frame_index": 205, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3291", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.076, 1.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.193]). The trajectory involves 5 precise waypoints with total movement distance of 0.746." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3291, "action": "close", "object": "Storage Furniture", "frame_index": 207, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3294", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.181, 1.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3294, "action": "close", "object": "Storage Furniture", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3297", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.382, 1.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3297, "action": "close", "object": "Storage Furniture", "frame_index": 219, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3300", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.812, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 2.059]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3300, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3315", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.883, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3315, "action": "open", "object": "Storage Furniture", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3316", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 2.020]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3316, "action": "open", "object": "Storage Furniture", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3317", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.998]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3317, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3318", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.795, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.809, 2.040]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3318, "action": "open", "object": "Storage Furniture", "frame_index": 213, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3319", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.792, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.801, 2.000]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3319, "action": "open", "object": "Storage Furniture", "frame_index": 215, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3321", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.874, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.897, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3321, "action": "open", "object": "Storage Furniture", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3322", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.901]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3322, "action": "open", "object": "Storage Furniture", "frame_index": 221, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3323", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.778, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.864]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3323, "action": "open", "object": "Storage Furniture", "frame_index": 222, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3330", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N04_S219_s01_T3/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S219_s01_T3/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N04_S219_s01_T3/align_rgb/00118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.660, 1.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.666, 1.092]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3330, "action": "close", "object": "Storage Furniture", "frame_index": 118, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3347", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N03_S260_s04_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N03_S260_s04_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N03_S260_s04_T2/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.411, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.738, 2.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3347, "action": "open", "object": "Storage Furniture", "frame_index": 53, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3400", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N03_S254_s01_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N03_S254_s01_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N03_S254_s01_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.735, 1.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.695, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3400, "action": "close", "object": "Storage Furniture", "frame_index": 241, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3425", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.655, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 2.439]). The trajectory involves 5 precise waypoints with total movement distance of 1.347." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3425, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3426", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.642, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.972, 2.371]). The trajectory involves 5 precise waypoints with total movement distance of 1.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3426, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3428", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.106, 1.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.747." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3428, "action": "close", "object": "Storage Furniture", "frame_index": 84, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3429", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.154, 1.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.733." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3429, "action": "close", "object": "Storage Furniture", "frame_index": 86, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3432", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.635, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.831, 2.421]). The trajectory involves 5 precise waypoints with total movement distance of 1.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3432, "action": "open", "object": "Storage Furniture", "frame_index": 169, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3435", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.061, 1.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3435, "action": "close", "object": "Storage Furniture", "frame_index": 195, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3436", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.098, 1.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3436, "action": "close", "object": "Storage Furniture", "frame_index": 197, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3437", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.125, 1.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.654, 1.213]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3437, "action": "close", "object": "Storage Furniture", "frame_index": 199, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3438", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.158, 1.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.756." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3438, "action": "close", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3439", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.176, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.749." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3439, "action": "close", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3440", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.252, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3440, "action": "close", "object": "Storage Furniture", "frame_index": 205, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3443", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.381, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.561, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3443, "action": "close", "object": "Storage Furniture", "frame_index": 211, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_3453", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.715, 1.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.705, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3453, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3459", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.762, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.746, 2.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3459, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3472", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.870, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.781]). The trajectory involves 5 precise waypoints with total movement distance of 0.961." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3472, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3479", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.610, 1.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.119, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.661." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3479, "action": "open", "object": "Storage Furniture", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3480", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.009, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 0.840]). The trajectory involves 5 precise waypoints with total movement distance of 0.930." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3480, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3481", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.064, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 0.767]). The trajectory involves 5 precise waypoints with total movement distance of 0.740." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3481, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3485", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 0.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.661." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3485, "action": "close", "object": "Storage Furniture", "frame_index": 113, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3486", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.408, 1.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 0.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3486, "action": "close", "object": "Storage Furniture", "frame_index": 115, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3489", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.799, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.165, 1.830]). The trajectory involves 5 precise waypoints with total movement distance of 1.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3489, "action": "open", "object": "Storage Furniture", "frame_index": 209, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3490", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 0.927]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 1.126." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3490, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3491", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.755, 1.006]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.045, 1.811]). The trajectory involves 5 precise waypoints with total movement distance of 1.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3491, "action": "open", "object": "Storage Furniture", "frame_index": 213, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3495", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.960, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 0.912]). The trajectory involves 5 precise waypoints with total movement distance of 1.035." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3495, "action": "close", "object": "Storage Furniture", "frame_index": 240, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3496", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.020, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 0.857]). The trajectory involves 5 precise waypoints with total movement distance of 0.822." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3496, "action": "close", "object": "Storage Furniture", "frame_index": 242, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3497", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.096, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3497, "action": "close", "object": "Storage Furniture", "frame_index": 244, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3499", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.210, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.682, 0.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.864." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3499, "action": "close", "object": "Storage Furniture", "frame_index": 248, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3501", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.313, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.685, 0.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.756." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3501, "action": "close", "object": "Storage Furniture", "frame_index": 252, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3504", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.821, 2.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3504, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3505", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.768, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.794, 2.030]). The trajectory involves 5 precise waypoints with total movement distance of 0.459." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3505, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3509", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.532, 1.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.538, 1.424]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3509, "action": "close", "object": "Storage Furniture", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3510", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.487, 1.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3510, "action": "close", "object": "Storage Furniture", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3511", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.683, 1.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.666, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3511, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3514", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.798, 1.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.788, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3514, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_3565", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.838, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.937, 0.927]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3565, "action": "open", "object": "Laptop", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3569", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.038, 0.912]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.003, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.831." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3569, "action": "close", "object": "Laptop", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3570", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.041, 0.925]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3570, "action": "close", "object": "Laptop", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3574", "task": "carry the Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.423, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.918, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3574, "action": "carry", "object": "Laptop", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3580", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.719, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.705, 1.446]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3580, "action": "putdown", "object": "Laptop", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3584", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.621, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 0.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3584, "action": "open", "object": "Laptop", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3586", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.523, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 0.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.772." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3586, "action": "open", "object": "Laptop", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3591", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.815, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.719, 1.612]). The trajectory involves 5 precise waypoints with total movement distance of 0.856." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3591, "action": "close", "object": "Laptop", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3592", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3592, "action": "close", "object": "Laptop", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3593", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.767, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.685, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3593, "action": "close", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3594", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.727, 0.940]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3594, "action": "close", "object": "Laptop", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3595", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.688, 1.009]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3595, "action": "close", "object": "Laptop", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3599", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.573, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.009, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3599, "action": "carry", "object": "Laptop", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3607", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.516, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.404, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3607, "action": "putdown", "object": "Laptop", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3611", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.440, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.991, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3611, "action": "carry", "object": "Laptop", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3625", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.660, 1.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.208, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3625, "action": "carry", "object": "Laptop", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3637", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.620, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.159, 1.495]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3637, "action": "carry", "object": "Laptop", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3640", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.898, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.436." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3640, "action": "open", "object": "Laptop", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3644", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.974, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3644, "action": "open", "object": "Laptop", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3646", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [2.043, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.055, 0.937]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3646, "action": "open", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3650", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.098, 1.007]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.136, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3650, "action": "close", "object": "Laptop", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3652", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.954, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3652, "action": "carry", "object": "Laptop", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3664", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.809, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.866, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3664, "action": "open", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3665", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.788, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.851, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3665, "action": "open", "object": "Laptop", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3668", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.785, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3668, "action": "close", "object": "Laptop", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3675", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.591, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.067, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3675, "action": "carry", "object": "Laptop", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3677", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.727, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.775, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3677, "action": "putdown", "object": "Laptop", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3684", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.693, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 0.764]). The trajectory involves 5 precise waypoints with total movement distance of 0.631." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3684, "action": "open", "object": "Laptop", "frame_index": 177, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3685", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.675, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.732, 0.689]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3685, "action": "open", "object": "Laptop", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3686", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.688, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.726, 0.723]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3686, "action": "open", "object": "Laptop", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3687", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.678, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 0.789]). The trajectory involves 5 precise waypoints with total movement distance of 0.519." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3687, "action": "open", "object": "Laptop", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3689", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.695, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.768]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3689, "action": "open", "object": "Laptop", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3690", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.659, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 0.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.560." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3690, "action": "open", "object": "Laptop", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3691", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.669, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 0.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3691, "action": "open", "object": "Laptop", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3692", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.819, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.778, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3692, "action": "close", "object": "Laptop", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3693", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.828, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.801, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3693, "action": "close", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3694", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.818, 0.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3694, "action": "close", "object": "Laptop", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3699", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.418." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3699, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3700", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.962, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3700, "action": "putdown", "object": "Laptop", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3709", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.791, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.413, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.416." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3709, "action": "carry", "object": "Laptop", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3712", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.495, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3712, "action": "putdown", "object": "Laptop", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3716", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.392, 1.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3716, "action": "carry", "object": "Laptop", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3720", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.730, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.724, 1.815]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3720, "action": "putdown", "object": "Laptop", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3724", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.664, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.308, 1.395]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3724, "action": "carry", "object": "Laptop", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3738", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s05_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s05_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s05_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.606, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.265, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.695." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3738, "action": "carry", "object": "Laptop", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3758", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.881, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 1.679]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3758, "action": "putdown", "object": "Laptop", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3760", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.883, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3760, "action": "putdown", "object": "Laptop", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3765", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.937, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.970, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3765, "action": "open", "object": "Laptop", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3769", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.947, 1.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.985, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3769, "action": "open", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3771", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.959, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3771, "action": "open", "object": "Laptop", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3779", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.962, 1.048]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.006, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3779, "action": "close", "object": "Laptop", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3782", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.945, 1.035]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.593." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3782, "action": "close", "object": "Laptop", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3788", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.824, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3788, "action": "carry", "object": "Laptop", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3799", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.788, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.792, 1.074]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3799, "action": "open", "object": "Laptop", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3818", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.854, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3818, "action": "close", "object": "Laptop", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3819", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.842, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.795, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3819, "action": "close", "object": "Laptop", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3820", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.827, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3820, "action": "close", "object": "Laptop", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_3822", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.649, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.185, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3822, "action": "carry", "object": "Laptop", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3826", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.997, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3826, "action": "carry", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3827", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.576, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3827, "action": "putdown", "object": "Laptop", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3845", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.617, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.942, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3845, "action": "carry", "object": "Laptop", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3849", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.375, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.419, 1.653]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3849, "action": "putdown", "object": "Laptop", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3852", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.651, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3852, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3859", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.949, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.279]). The trajectory involves 5 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3859, "action": "carry", "object": "Laptop", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3861", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.548, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3861, "action": "putdown", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3868", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.537, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3868, "action": "putdown", "object": "Laptop", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3870", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.636, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.059, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3870, "action": "carry", "object": "Laptop", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3877", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.964, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3877, "action": "open", "object": "Laptop", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3882", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.919, 1.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.175]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3882, "action": "open", "object": "Laptop", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3908", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.410, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.009, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3908, "action": "carry", "object": "Laptop", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3923", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.784, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.844, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.446." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3923, "action": "open", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3935", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.021, 0.972]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.047, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3935, "action": "close", "object": "Laptop", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3940", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.432]). The trajectory involves 5 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3940, "action": "carry", "object": "Laptop", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3941", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.548, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3941, "action": "carry", "object": "Laptop", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3954", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.453, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.379, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3954, "action": "putdown", "object": "Laptop", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3963", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.611, 1.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.174, 1.520]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3963, "action": "carry", "object": "Laptop", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3971", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.464, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.984, 1.609]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3971, "action": "carry", "object": "Laptop", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3985", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.509, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.446." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3985, "action": "open", "object": "Laptop", "frame_index": 177, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_3986", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.529, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3986, "action": "open", "object": "Laptop", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_3987", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.519, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 3987, "action": "open", "object": "Laptop", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4000", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.815, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.800, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4000, "action": "close", "object": "Laptop", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4010", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s04_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s04_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.652, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.611, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 1.021." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4010, "action": "carry", "object": "Laptop", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4044", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.511, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4044, "action": "open", "object": "Laptop", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4048", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.856, 1.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.977, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.622." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4048, "action": "open", "object": "Laptop", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4049", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.920, 1.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.050, 1.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4049, "action": "open", "object": "Laptop", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4050", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.793, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4050, "action": "open", "object": "Laptop", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4055", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.070, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.991, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4055, "action": "close", "object": "Laptop", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4060", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.992, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.925, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4060, "action": "close", "object": "Laptop", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4073", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.891, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4073, "action": "putdown", "object": "Laptop", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4079", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.680, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.247, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4079, "action": "carry", "object": "Laptop", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4083", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.396, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4083, "action": "putdown", "object": "Laptop", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4090", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.528, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.223, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4090, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4099", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.258, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.526." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4099, "action": "carry", "object": "Laptop", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4128", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s05_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s05_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.128, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.134, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4128, "action": "close", "object": "Laptop", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4138", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.663, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.492, 1.864]). The trajectory involves 5 precise waypoints with total movement distance of 0.866." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4138, "action": "carry", "object": "Laptop", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4144", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.904, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.967, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4144, "action": "open", "object": "Laptop", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4151", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.051, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.998, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4151, "action": "close", "object": "Laptop", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4154", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.974, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4154, "action": "close", "object": "Laptop", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4157", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.022, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.323]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4157, "action": "close", "object": "Laptop", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4158", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.956, 1.175]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.872, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4158, "action": "close", "object": "Laptop", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4161", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.928, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.009, 0.829]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4161, "action": "close", "object": "Laptop", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4165", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4165, "action": "carry", "object": "Laptop", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4178", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.764, 1.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4178, "action": "carry", "object": "Laptop", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4186", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.438, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.094, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4186, "action": "carry", "object": "Laptop", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4196", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.961, 1.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4196, "action": "carry", "object": "Laptop", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4222", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.250, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4222, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4232", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.663, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4232, "action": "open", "object": "Laptop", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4240", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.761, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.894]). The trajectory involves 5 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4240, "action": "open", "object": "Laptop", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4242", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.786, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.819, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4242, "action": "open", "object": "Laptop", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4243", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.873, 0.875]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4243, "action": "close", "object": "Laptop", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4246", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.848, 1.017]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.826, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4246, "action": "close", "object": "Laptop", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4274", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.928, 1.921]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.054, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4274, "action": "open", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4275", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.987, 1.862]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.090, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4275, "action": "open", "object": "Laptop", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4276", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.988, 1.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.088, 1.257]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4276, "action": "open", "object": "Laptop", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4277", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.944, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.987, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4277, "action": "open", "object": "Laptop", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4296", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.461, 1.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.988, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4296, "action": "carry", "object": "Laptop", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4302", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.841, 1.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.941, 1.161]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4302, "action": "open", "object": "Laptop", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4304", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.769, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.074]). The trajectory involves 5 precise waypoints with total movement distance of 0.593." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4304, "action": "open", "object": "Laptop", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4323", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.281, 1.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4323, "action": "carry", "object": "Laptop", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4336", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.676, 1.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.711, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.515." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4336, "action": "open", "object": "Laptop", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4338", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.681, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.765, 1.062]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4338, "action": "open", "object": "Laptop", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4339", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.673, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.767, 0.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4339, "action": "open", "object": "Laptop", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4340", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.666, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.776, 0.848]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4340, "action": "open", "object": "Laptop", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4358", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.661, 1.909]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.717, 2.098]). The trajectory involves 5 precise waypoints with total movement distance of 1.092." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4358, "action": "carry", "object": "Laptop", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4364", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.741, 1.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 0.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.775." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4364, "action": "open", "object": "Laptop", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4365", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.735, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.840, 0.951]). The trajectory involves 5 precise waypoints with total movement distance of 0.681." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4365, "action": "open", "object": "Laptop", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4382", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.338, 1.813]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4382, "action": "carry", "object": "Laptop", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4383", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.617, 1.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.403, 1.819]). The trajectory involves 5 precise waypoints with total movement distance of 0.823." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4383, "action": "carry", "object": "Laptop", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4384", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.644, 1.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.386, 1.850]). The trajectory involves 5 precise waypoints with total movement distance of 0.779." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4384, "action": "carry", "object": "Laptop", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4389", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.844, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4389, "action": "carry", "object": "Laptop", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4398", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.434, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.771]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4398, "action": "putdown", "object": "Laptop", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4401", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.445, 1.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.068, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4401, "action": "carry", "object": "Laptop", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4402", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.465, 1.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.141, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4402, "action": "carry", "object": "Laptop", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4403", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.199, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 0.761." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4403, "action": "carry", "object": "Laptop", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4408", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.794, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.146, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4408, "action": "carry", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4413", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.525, 1.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.414, 1.836]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4413, "action": "carry", "object": "Laptop", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4424", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.528, 1.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4424, "action": "open", "object": "Laptop", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4429", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.802, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4429, "action": "close", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4434", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.734, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4434, "action": "close", "object": "Laptop", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4435", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.712, 1.214]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.612]). The trajectory involves 5 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4435, "action": "close", "object": "Laptop", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4444", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.933, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 1.231." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4444, "action": "carry", "object": "Laptop", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4446", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.833, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 1.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4446, "action": "carry", "object": "Laptop", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4459", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.669, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4459, "action": "open", "object": "Laptop", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4460", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.642, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4460, "action": "open", "object": "Laptop", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4461", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.635, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.678, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4461, "action": "open", "object": "Laptop", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4463", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.523, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4463, "action": "open", "object": "Laptop", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4464", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.509, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.634, 1.026]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4464, "action": "open", "object": "Laptop", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4465", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.850, 0.995]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.589]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4465, "action": "close", "object": "Laptop", "frame_index": 252, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4467", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.480, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.083, 1.189]). The trajectory involves 5 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4467, "action": "carry", "object": "Laptop", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4473", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.514, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 0.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.879." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4473, "action": "open", "object": "Laptop", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4474", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.506, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 0.589]). The trajectory involves 5 precise waypoints with total movement distance of 0.727." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4474, "action": "open", "object": "Laptop", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4476", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.587, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.652, 0.606]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4476, "action": "open", "object": "Laptop", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4478", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.741, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.446]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4478, "action": "close", "object": "Laptop", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4479", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.758, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4479, "action": "close", "object": "Laptop", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4480", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.712, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4480, "action": "close", "object": "Laptop", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4481", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.738, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.676." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4481, "action": "close", "object": "Laptop", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4482", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.689, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4482, "action": "close", "object": "Laptop", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4484", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.602, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4484, "action": "close", "object": "Laptop", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4493", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.476, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 1.469]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4493, "action": "carry", "object": "Laptop", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4498", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.510, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 0.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.773." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4498, "action": "open", "object": "Laptop", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4503", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.788, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4503, "action": "close", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4504", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.779, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.814." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4504, "action": "close", "object": "Laptop", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4507", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.774, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4507, "action": "close", "object": "Laptop", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4518", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4518, "action": "carry", "object": "Laptop", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4522", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.597, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.251, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4522, "action": "carry", "object": "Laptop", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4523", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.615, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.238, 1.578]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4523, "action": "carry", "object": "Laptop", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4536", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.876, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.211, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4536, "action": "carry", "object": "Laptop", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4541", "task": "pick up the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.439, 1.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.611]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4541, "action": "pickup", "object": "Laptop", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4542", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.504, 1.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.109, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4542, "action": "carry", "object": "Laptop", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4555", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.738, 1.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.434." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4555, "action": "open", "object": "Laptop", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4557", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.752, 1.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.796, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4557, "action": "open", "object": "Laptop", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4560", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.597, 1.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.080]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4560, "action": "open", "object": "Laptop", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4568", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.680, 1.110]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4568, "action": "close", "object": "Laptop", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4571", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.567, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.536, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4571, "action": "close", "object": "Laptop", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4572", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.521, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.483, 1.830]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4572, "action": "close", "object": "Laptop", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_4586", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s03_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s03_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s03_T1/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.074, 1.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.429, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4586, "action": "carry", "object": "Laptop", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4726", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.464, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.089, 1.105]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4726, "action": "carry", "object": "Laptop", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4732", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 0.858]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4732, "action": "open", "object": "Laptop", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4733", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.705, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.799, 0.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4733, "action": "open", "object": "Laptop", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4734", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.770, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 0.774]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4734, "action": "open", "object": "Laptop", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4735", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.703, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.738]). The trajectory involves 5 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4735, "action": "open", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4738", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.713, 1.231]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.825, 0.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4738, "action": "open", "object": "Laptop", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4740", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.942, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.790." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4740, "action": "close", "object": "Laptop", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4741", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.890, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4741, "action": "close", "object": "Laptop", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4742", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.794, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4742, "action": "close", "object": "Laptop", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4748", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.431, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.096, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.673." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4748, "action": "carry", "object": "Laptop", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4749", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.414, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.075, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.668." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4749, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4750", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.422, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.079, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.669." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4750, "action": "carry", "object": "Laptop", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4760", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.908, 1.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.315, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4760, "action": "carry", "object": "Laptop", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4761", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.878, 1.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4761, "action": "carry", "object": "Laptop", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4762", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.879, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.483]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4762, "action": "carry", "object": "Laptop", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4766", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.409, 1.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.110, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 0.748." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4766, "action": "carry", "object": "Laptop", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4780", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.715, 1.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.780, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4780, "action": "open", "object": "Laptop", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4781", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.705, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4781, "action": "open", "object": "Laptop", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4783", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.682, 1.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.744, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4783, "action": "open", "object": "Laptop", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4784", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.710, 1.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.766, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4784, "action": "open", "object": "Laptop", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4785", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.758, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.810, 1.154]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4785, "action": "open", "object": "Laptop", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4787", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.845, 1.176]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.798]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4787, "action": "close", "object": "Laptop", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4791", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.418, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.105, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4791, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4794", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.072, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.061, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4794, "action": "putdown", "object": "Laptop", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4803", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.907, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4803, "action": "open", "object": "Laptop", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4804", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.889, 1.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.970, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4804, "action": "open", "object": "Laptop", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4805", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.941, 1.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.065, 1.131]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4805, "action": "open", "object": "Laptop", "frame_index": 177, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4806", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.956, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.060, 0.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4806, "action": "open", "object": "Laptop", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4807", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.966, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.092, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.635." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4807, "action": "open", "object": "Laptop", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4808", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.986, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.081, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4808, "action": "open", "object": "Laptop", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4811", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.092, 1.111]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.893]). The trajectory involves 5 precise waypoints with total movement distance of 0.802." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4811, "action": "close", "object": "Laptop", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4812", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.048, 1.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4812, "action": "close", "object": "Laptop", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4813", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.034, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4813, "action": "close", "object": "Laptop", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4822", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.160, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.092, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4822, "action": "putdown", "object": "Laptop", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4823", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.176, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.073, 1.661]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4823, "action": "putdown", "object": "Laptop", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4825", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.923, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4825, "action": "carry", "object": "Laptop", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4826", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.874, 1.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4826, "action": "carry", "object": "Laptop", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4833", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4833, "action": "carry", "object": "Laptop", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4834", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.481, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.310]). The trajectory involves 5 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4834, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4835", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.504, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.998, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4835, "action": "carry", "object": "Laptop", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4836", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.510, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4836, "action": "carry", "object": "Laptop", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4840", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.813, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.857, 1.044]). The trajectory involves 5 precise waypoints with total movement distance of 0.327." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4840, "action": "open", "object": "Laptop", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4861", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.793, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4861, "action": "putdown", "object": "Laptop", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4862", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.848, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4862, "action": "putdown", "object": "Laptop", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4876", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.312, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.758]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4876, "action": "putdown", "object": "Laptop", "frame_index": 256, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4891", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.849, 1.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.912, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4891, "action": "open", "object": "Laptop", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4892", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.888, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.957, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4892, "action": "open", "object": "Laptop", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4893", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.803, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.874, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4893, "action": "open", "object": "Laptop", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4894", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.926, 1.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4894, "action": "open", "object": "Laptop", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4902", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.918, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4902, "action": "close", "object": "Laptop", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4904", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.601, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.414, 1.764]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4904, "action": "carry", "object": "Laptop", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4915", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [2.011, 1.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.072, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4915, "action": "open", "object": "Laptop", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4917", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.985, 1.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.045, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4917, "action": "open", "object": "Laptop", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4919", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.882, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.963, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4919, "action": "open", "object": "Laptop", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4920", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.986, 1.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.064, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4920, "action": "open", "object": "Laptop", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4934", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.108, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.393." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4934, "action": "close", "object": "Laptop", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4935", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.068, 1.099]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.012, 1.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4935, "action": "close", "object": "Laptop", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4936", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.069, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4936, "action": "close", "object": "Laptop", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4937", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.019, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4937, "action": "close", "object": "Laptop", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4938", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.017, 1.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.963, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4938, "action": "close", "object": "Laptop", "frame_index": 250, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4943", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.214, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4943, "action": "carry", "object": "Laptop", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4954", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.064, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4954, "action": "carry", "object": "Laptop", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4961", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.030, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4961, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4962", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.507, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.087, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4962, "action": "carry", "object": "Laptop", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4967", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.429, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4967, "action": "putdown", "object": "Laptop", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4970", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.361, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4970, "action": "putdown", "object": "Laptop", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_4983", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.865, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4983, "action": "open", "object": "Laptop", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4987", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.792, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.866, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4987, "action": "open", "object": "Laptop", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_4999", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.009, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.720." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 4999, "action": "close", "object": "Laptop", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5000", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.991, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.724." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5000, "action": "close", "object": "Laptop", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5007", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S374_s01_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S374_s01_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S374_s01_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.582, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.008, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5007, "action": "carry", "object": "Laptop", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5030", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.949, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5030, "action": "open", "object": "Laptop", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5038", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.975, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.028, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.340." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5038, "action": "open", "object": "Laptop", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5054", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.098, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5054, "action": "putdown", "object": "Laptop", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5055", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.086, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.775, 1.686]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5055, "action": "putdown", "object": "Laptop", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5058", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.487, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.116, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5058, "action": "carry", "object": "Laptop", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5059", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.497, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.156, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.706." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5059, "action": "carry", "object": "Laptop", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5060", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.499, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.169, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.693." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5060, "action": "carry", "object": "Laptop", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5062", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.259, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5062, "action": "carry", "object": "Laptop", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5064", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.066, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.095, 1.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5064, "action": "putdown", "object": "Laptop", "frame_index": 119, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_5066", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.085, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.077, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5066, "action": "putdown", "object": "Laptop", "frame_index": 123, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5071", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.925, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5071, "action": "carry", "object": "Laptop", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5075", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.485, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.054, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5075, "action": "carry", "object": "Laptop", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5076", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.529, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.152, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5076, "action": "carry", "object": "Laptop", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5077", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.101, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5077, "action": "carry", "object": "Laptop", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5081", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.921, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.613." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5081, "action": "carry", "object": "Laptop", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5082", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.905, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.564." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5082, "action": "carry", "object": "Laptop", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5092", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.505, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.185, 1.566]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5092, "action": "carry", "object": "Laptop", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5093", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.740, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5093, "action": "putdown", "object": "Laptop", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5103", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.764, 1.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5103, "action": "open", "object": "Laptop", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5104", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.780, 1.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.839, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5104, "action": "open", "object": "Laptop", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5107", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.810, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.187]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5107, "action": "open", "object": "Laptop", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5109", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.808, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5109, "action": "open", "object": "Laptop", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5112", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.797, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.878, 0.942]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5112, "action": "open", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5115", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.793, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.865, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5115, "action": "open", "object": "Laptop", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5116", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.808, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5116, "action": "open", "object": "Laptop", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5118", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.001, 1.032]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5118, "action": "close", "object": "Laptop", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5119", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.005, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.940, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5119, "action": "close", "object": "Laptop", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5121", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.050, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.991, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5121, "action": "close", "object": "Laptop", "frame_index": 251, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5122", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.049, 1.019]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5122, "action": "close", "object": "Laptop", "frame_index": 253, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_5133", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.140, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5133, "action": "carry", "object": "Laptop", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5142", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.879, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5142, "action": "carry", "object": "Laptop", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5152", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.776, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.767, 1.742]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5152, "action": "putdown", "object": "Laptop", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_5159", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.782, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5159, "action": "open", "object": "Laptop", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_5176", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.822, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.852, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.746." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5176, "action": "close", "object": "Laptop", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_5190", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s01_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.017, 1.891]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.528, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 5190, "action": "carry", "object": "Laptop", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_6054", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N48_S16_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N48_S16_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N48_S16_s02_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.677, 0.997]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.710, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.268." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6054, "action": "putdown", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6066", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.518, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.573, 2.327]). The trajectory involves 5 precise waypoints with total movement distance of 1.374." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6066, "action": "carry", "object": "Mug", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6068", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.515, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.717, 2.527]). The trajectory involves 5 precise waypoints with total movement distance of 1.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6068, "action": "carry", "object": "Mug", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6069", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.807, 2.719]). The trajectory involves 5 precise waypoints with total movement distance of 1.728." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6069, "action": "carry", "object": "Mug", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6096", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.856, 1.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6096, "action": "carry", "object": "Mug", "frame_index": 145, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6097", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00146.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.858, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.756, 1.867]). The trajectory involves 5 precise waypoints with total movement distance of 1.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6097, "action": "carry", "object": "Mug", "frame_index": 147, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6100", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.758, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 1.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6100, "action": "carry", "object": "Mug", "frame_index": 153, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6115", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.566, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.141." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6115, "action": "pickup", "object": "Mug", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6117", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.567, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6117, "action": "pickup", "object": "Mug", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6118", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.584, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6118, "action": "pickup", "object": "Mug", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6120", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.581, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6120, "action": "putdown", "object": "Mug", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6124", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.588, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6124, "action": "putdown", "object": "Mug", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6156", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.428, 2.625]). The trajectory involves 5 precise waypoints with total movement distance of 2.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6156, "action": "carry", "object": "Mug", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6161", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.847, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 1.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6161, "action": "carry", "object": "Mug", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6163", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.853, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.749, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 1.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6163, "action": "carry", "object": "Mug", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6164", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.877, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 1.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6164, "action": "carry", "object": "Mug", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6166", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.840, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 1.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6166, "action": "carry", "object": "Mug", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6167", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.851, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 1.234." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6167, "action": "carry", "object": "Mug", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6168", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.852, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6168, "action": "carry", "object": "Mug", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6231", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.670, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6231, "action": "putdown", "object": "Mug", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6232", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.673, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6232, "action": "putdown", "object": "Mug", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6261", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.505, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.705, 1.890]). The trajectory involves 5 precise waypoints with total movement distance of 1.402." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6261, "action": "carry", "object": "Mug", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6262", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.745, 1.965]). The trajectory involves 5 precise waypoints with total movement distance of 1.502." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6262, "action": "carry", "object": "Mug", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6263", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.441, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.633, 1.923]). The trajectory involves 5 precise waypoints with total movement distance of 1.448." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6263, "action": "carry", "object": "Mug", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6264", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.450, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.586, 1.959]). The trajectory involves 5 precise waypoints with total movement distance of 1.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6264, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6265", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.514, 1.909]). The trajectory involves 5 precise waypoints with total movement distance of 1.301." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6265, "action": "carry", "object": "Mug", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6266", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.452, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.411, 1.841]). The trajectory involves 5 precise waypoints with total movement distance of 1.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6266, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6267", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.437, 1.235]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.267, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 1.006." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6267, "action": "carry", "object": "Mug", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6325", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N39_S10_s05_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S10_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N39_S10_s05_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.500, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6325, "action": "putdown", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6346", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.389, 1.040]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.206, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6346, "action": "carry", "object": "Mug", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6349", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.406, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6349, "action": "putdown", "object": "Mug", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6359", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.391, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.316, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 1.067." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6359, "action": "carry", "object": "Mug", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6360", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.413, 1.147]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.229, 1.580]). The trajectory involves 5 precise waypoints with total movement distance of 0.962." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6360, "action": "carry", "object": "Mug", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6362", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.514, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6362, "action": "putdown", "object": "Mug", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6431", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.563, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6431, "action": "pickup", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6441", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.547, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6441, "action": "putdown", "object": "Mug", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6527", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.587, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.595, 1.013]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6527, "action": "pickup", "object": "Mug", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6529", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.565, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 0.997]). The trajectory involves 5 precise waypoints with total movement distance of 0.118." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6529, "action": "pickup", "object": "Mug", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6530", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.617, 1.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.019]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6530, "action": "pickup", "object": "Mug", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6636", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.554, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.982, 1.611]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6636, "action": "putdown", "object": "Mug", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6640", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.556, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.107, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.552." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6640, "action": "putdown", "object": "Mug", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6644", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.584, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.702, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 1.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6644, "action": "putdown", "object": "Mug", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6645", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.578, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.661, 1.522]). The trajectory involves 5 precise waypoints with total movement distance of 1.087." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6645, "action": "putdown", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6646", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.555, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.548, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6646, "action": "putdown", "object": "Mug", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6647", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.541, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.449, 1.582]). The trajectory involves 5 precise waypoints with total movement distance of 0.913." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6647, "action": "putdown", "object": "Mug", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6649", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.380, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 0.843." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6649, "action": "putdown", "object": "Mug", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6650", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.375, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.845." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6650, "action": "putdown", "object": "Mug", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6655", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.109, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6655, "action": "putdown", "object": "Mug", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6656", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.568, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.132, 1.526]). The trajectory involves 5 precise waypoints with total movement distance of 0.566." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6656, "action": "putdown", "object": "Mug", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6658", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.547, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.167, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.621." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6658, "action": "putdown", "object": "Mug", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6659", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.148, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6659, "action": "putdown", "object": "Mug", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6660", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.067, 1.551]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6660, "action": "putdown", "object": "Mug", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6662", "task": "carry the mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.549, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6662, "action": "putdown", "object": "Mug", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6816", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.575, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6816, "action": "putdown", "object": "Mug", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6817", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.534, 1.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.529]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6817, "action": "pickup", "object": "Mug", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6819", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.070, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6819, "action": "carry", "object": "Mug", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6826", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.686, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6826, "action": "putdown", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6847", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.678, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.654, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6847, "action": "putdown", "object": "Mug", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_6905", "task": "pick up the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.738, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.150]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6905, "action": "pickup", "object": "Stapler", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6906", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.791, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 1.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6906, "action": "carry", "object": "Stapler", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6926", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N48_S364_s03_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N48_S364_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N48_S364_s03_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 1.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6926, "action": "carry", "object": "Stapler", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6947", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.653, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 1.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6947, "action": "carry", "object": "Stapler", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6948", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.669, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 1.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6948, "action": "carry", "object": "Stapler", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6963", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N46_S162_s03_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N46_S162_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N46_S162_s03_T1/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.408, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6963, "action": "putdown", "object": "Stapler", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6978", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N36_S181_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S181_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S181_s03_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.475, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.254, 1.828]). The trajectory involves 5 precise waypoints with total movement distance of 1.799." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6978, "action": "carry", "object": "Stapler", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6993", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.302, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6993, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6995", "task": "pick up the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.674, 1.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.518]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6995, "action": "pickup", "object": "Stapler", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_6996", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.621, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.281, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 6996, "action": "carry", "object": "Stapler", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7001", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.233, 1.187]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.558, 1.921]). The trajectory involves 5 precise waypoints with total movement distance of 2.012." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7001, "action": "carry", "object": "Stapler", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7004", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.179, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.750, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 2.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7004, "action": "carry", "object": "Stapler", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7007", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.122, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.751, 1.920]). The trajectory involves 5 precise waypoints with total movement distance of 2.000." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7007, "action": "carry", "object": "Stapler", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_7008", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.145, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.593, 1.775]). The trajectory involves 5 precise waypoints with total movement distance of 1.821." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7008, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_7010", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.107, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.316, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 1.446." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7010, "action": "carry", "object": "Stapler", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7016", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.328]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7016, "action": "carry", "object": "Stapler", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7020", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7020, "action": "carry", "object": "Stapler", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_7028", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.508, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7028, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7029", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.529, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.048, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7029, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7030", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [2.046, 1.184]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.598]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7030, "action": "putdown", "object": "Stapler", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_7033", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.366, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.312, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7033, "action": "putdown", "object": "Stapler", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7050", "task": "pick up the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.281, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7050, "action": "pickup", "object": "Stapler", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7054", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.217, 1.336]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7054, "action": "carry", "object": "Stapler", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7077", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.310, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.329." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7077, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7086", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.121, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.167, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7086, "action": "putdown", "object": "Stapler", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_7114", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.492, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.068, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 1.468." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7114, "action": "carry", "object": "Stapler", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7115", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.484, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.149, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 1.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7115, "action": "carry", "object": "Stapler", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7135", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.794, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7135, "action": "carry", "object": "Stapler", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7137", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.772, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7137, "action": "carry", "object": "Stapler", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7167", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.527, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7167, "action": "carry", "object": "Stapler", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7169", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.543, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 1.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7169, "action": "carry", "object": "Stapler", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7170", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.255, 1.658]). The trajectory involves 5 precise waypoints with total movement distance of 1.335." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7170, "action": "carry", "object": "Stapler", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7189", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.577, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 1.245]). The trajectory involves 5 precise waypoints with total movement distance of 1.026." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7189, "action": "carry", "object": "Stapler", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7192", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.566, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 1.305." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7192, "action": "carry", "object": "Stapler", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7193", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.573, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.246, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 1.357." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7193, "action": "carry", "object": "Stapler", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7252", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N21_S162_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N21_S162_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N21_S162_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.388, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7252, "action": "putdown", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7316", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.521, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 1.225." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7316, "action": "carry", "object": "Stapler", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7317", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.509, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.179, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 1.362." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7317, "action": "carry", "object": "Stapler", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_7422", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.419, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.246, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 1.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7422, "action": "carry", "object": "Stapler", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_7423", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.416, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 1.516]). The trajectory involves 5 precise waypoints with total movement distance of 1.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7423, "action": "carry", "object": "Stapler", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_7465", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C18_N11_S178_s03_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N11_S178_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C18_N11_S178_s03_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.464, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.115, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 1.620." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 7465, "action": "carry", "object": "Stapler", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_8477", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.512, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.476, 1.685]). The trajectory involves 5 precise waypoints with total movement distance of 1.006." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8477, "action": "carry", "object": "Trash Can", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8478", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.580, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 1.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8478, "action": "carry", "object": "Trash Can", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8483", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s01_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.575, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.539, 1.424]). The trajectory involves 5 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8483, "action": "open", "object": "Trash Can", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8531", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N32_S211_s03_T2/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N32_S211_s03_T2/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N32_S211_s03_T2/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.106, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.552, 1.926]). The trajectory involves 5 precise waypoints with total movement distance of 1.512." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8531, "action": "carry", "object": "Trash Can", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_8546", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.317, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.274, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8546, "action": "close", "object": "Trash Can", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8553", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.379, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.097." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8553, "action": "close", "object": "Trash Can", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8567", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.530, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.109." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8567, "action": "open", "object": "Trash Can", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8569", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00027.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.526, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8569, "action": "open", "object": "Trash Can", "frame_index": 27, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8576", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00142.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00144.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.496, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.498, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8576, "action": "open", "object": "Trash Can", "frame_index": 144, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8577", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.500, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8577, "action": "open", "object": "Trash Can", "frame_index": 159, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8579", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.462, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8579, "action": "open", "object": "Trash Can", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8582", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.524, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8582, "action": "close", "object": "Trash Can", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8597", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.149, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.166, 1.036]). The trajectory involves 5 precise waypoints with total movement distance of 0.526." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8597, "action": "open", "object": "Trash Can", "frame_index": 140, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8599", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.223, 1.103]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.627, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 1.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8599, "action": "carry", "object": "Trash Can", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8601", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.161, 1.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.492, 2.021]). The trajectory involves 5 precise waypoints with total movement distance of 1.434." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8601, "action": "carry", "object": "Trash Can", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8602", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.171, 1.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.460, 2.023]). The trajectory involves 5 precise waypoints with total movement distance of 1.393." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8602, "action": "carry", "object": "Trash Can", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8613", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.259, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8613, "action": "open", "object": "Trash Can", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8616", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.415, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8616, "action": "close", "object": "Trash Can", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8617", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.500, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8617, "action": "open", "object": "Trash Can", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8618", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.511, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8618, "action": "open", "object": "Trash Can", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8622", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.485, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8622, "action": "open", "object": "Trash Can", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8624", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.516, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 1.024." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8624, "action": "carry", "object": "Trash Can", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8673", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.195, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.415, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 1.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8673, "action": "carry", "object": "Trash Can", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8674", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.310, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.460, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 1.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8674, "action": "carry", "object": "Trash Can", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8712", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.169, 1.142]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.173, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8712, "action": "close", "object": "Trash Can", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8714", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.331, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.756, 2.033]). The trajectory involves 5 precise waypoints with total movement distance of 1.565." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8714, "action": "carry", "object": "Trash Can", "frame_index": 152, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_8715", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00154.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.304, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.711, 1.939]). The trajectory involves 5 precise waypoints with total movement distance of 1.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8715, "action": "carry", "object": "Trash Can", "frame_index": 154, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_8716", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.159, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.575, 1.833]). The trajectory involves 5 precise waypoints with total movement distance of 1.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8716, "action": "carry", "object": "Trash Can", "frame_index": 156, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_8726", "task": "put down the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the trash can?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the trash can, execute the following phases: 1) Initial approach phase (start at [1.103, 1.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.786]). The trajectory involves 5 precise waypoints with total movement distance of 0.006." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8726, "action": "putdown", "object": "Trash Can", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8727", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.364, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.397, 1.092]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8727, "action": "open", "object": "Trash Can", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8728", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.341, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.399." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8728, "action": "open", "object": "Trash Can", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8737", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.288, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8737, "action": "open", "object": "Trash Can", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8805", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.382, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8805, "action": "open", "object": "Trash Can", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8810", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.450, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.424, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8810, "action": "close", "object": "Trash Can", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_8814", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.316, 1.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.263, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8814, "action": "close", "object": "Trash Can", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8820", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.148, 1.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.202, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8820, "action": "open", "object": "Trash Can", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8821", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.111, 1.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.160, 1.308]). The trajectory involves 5 precise waypoints with total movement distance of 0.407." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8821, "action": "open", "object": "Trash Can", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8886", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.366, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8886, "action": "close", "object": "Trash Can", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8890", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.320, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.620]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8890, "action": "close", "object": "Trash Can", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8907", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.233, 1.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.247, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8907, "action": "open", "object": "Trash Can", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8914", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.261, 1.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.551, 1.997]). The trajectory involves 5 precise waypoints with total movement distance of 1.350." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8914, "action": "carry", "object": "Trash Can", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8919", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.479, 1.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8919, "action": "open", "object": "Trash Can", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8920", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.488, 1.105]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8920, "action": "open", "object": "Trash Can", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8921", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.486, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.499, 0.985]). The trajectory involves 5 precise waypoints with total movement distance of 0.102." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8921, "action": "open", "object": "Trash Can", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8929", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.384, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8929, "action": "open", "object": "Trash Can", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8930", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.395, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8930, "action": "open", "object": "Trash Can", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8971", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.317, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.129, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8971, "action": "close", "object": "Trash Can", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8973", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.389, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.941, 2.105]). The trajectory involves 5 precise waypoints with total movement distance of 1.745." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8973, "action": "carry", "object": "Trash Can", "frame_index": 160, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8986", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.370, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8986, "action": "close", "object": "Trash Can", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8987", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.367, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.393." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8987, "action": "close", "object": "Trash Can", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8988", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.366, 1.176]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.522]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8988, "action": "close", "object": "Trash Can", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8998", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.320, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8998, "action": "open", "object": "Trash Can", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_8999", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.299, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 8999, "action": "open", "object": "Trash Can", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9003", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.324, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.052]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9003, "action": "close", "object": "Trash Can", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9006", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.293, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9006, "action": "close", "object": "Trash Can", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9012", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.343, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.592, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 1.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9012, "action": "carry", "object": "Trash Can", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9013", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.535, 1.715]). The trajectory involves 5 precise waypoints with total movement distance of 1.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9013, "action": "carry", "object": "Trash Can", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9017", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.368, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9017, "action": "open", "object": "Trash Can", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9021", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.408, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9021, "action": "open", "object": "Trash Can", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9023", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.495, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9023, "action": "close", "object": "Trash Can", "frame_index": 119, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9026", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.466, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9026, "action": "close", "object": "Trash Can", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9027", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.365, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.392, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9027, "action": "open", "object": "Trash Can", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9030", "task": "carry the trash can to the right desk", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry the trash can to the right desk?" }, { "from": "gpt", "value": "To complete this object manipulation: carry the trash can to the right desk, execute the following phases: 1) Initial approach phase (start at [1.454, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.776, 1.791]). The trajectory involves 5 precise waypoints with total movement distance of 0.343." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9030, "action": "pickup", "object": "Trash Can", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9035", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.325, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9035, "action": "open", "object": "Trash Can", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9039", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.480, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9039, "action": "open", "object": "Trash Can", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9040", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.462, 1.050]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.530, 0.690]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9040, "action": "open", "object": "Trash Can", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9050", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.300, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.362, 0.868]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9050, "action": "open", "object": "Trash Can", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9051", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.267, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 0.884]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9051, "action": "open", "object": "Trash Can", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9052", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.290, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 0.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9052, "action": "open", "object": "Trash Can", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9063", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.329, 1.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9063, "action": "open", "object": "Trash Can", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9064", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.327, 1.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9064, "action": "open", "object": "Trash Can", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9065", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.402, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.367." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9065, "action": "open", "object": "Trash Can", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9066", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.347, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.377, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9066, "action": "open", "object": "Trash Can", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9067", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.293, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9067, "action": "close", "object": "Trash Can", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9070", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.547, 1.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9070, "action": "open", "object": "Trash Can", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9077", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.318, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.387, 0.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9077, "action": "open", "object": "Trash Can", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9083", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.248, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.292, 0.928]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9083, "action": "open", "object": "Trash Can", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9084", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.283, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 0.913]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9084, "action": "open", "object": "Trash Can", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9089", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.495, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9089, "action": "close", "object": "Trash Can", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_9097", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.243, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 0.758]). The trajectory involves 5 precise waypoints with total movement distance of 0.767." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9097, "action": "open", "object": "Trash Can", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9098", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.243, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 0.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9098, "action": "open", "object": "Trash Can", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9099", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.486, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.429, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9099, "action": "close", "object": "Trash Can", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9100", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.490, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.420." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9100, "action": "close", "object": "Trash Can", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9102", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.354, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.306, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9102, "action": "close", "object": "Trash Can", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_9111", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N50_S234_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N50_S234_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N50_S234_s02_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.982, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 1.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9111, "action": "carry", "object": "Knife", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9126", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.433, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.055]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9126, "action": "pickup", "object": "Knife", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9127", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.460, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.001, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9127, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9128", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.468, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.024, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9128, "action": "carry", "object": "Knife", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9129", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.018, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9129, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9133", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [2.063, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.114, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9133, "action": "pickup", "object": "Knife", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9134", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.051, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.617, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9134, "action": "carry", "object": "Knife", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9136", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.511, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9136, "action": "putdown", "object": "Knife", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9145", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.404, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.390, 2.448]). The trajectory involves 5 precise waypoints with total movement distance of 1.304." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9145, "action": "carry", "object": "Knife", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9147", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.358, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.383, 2.324]). The trajectory involves 5 precise waypoints with total movement distance of 1.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9147, "action": "carry", "object": "Knife", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9148", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.331, 1.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.249, 2.188]). The trajectory involves 5 precise waypoints with total movement distance of 1.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9148, "action": "carry", "object": "Knife", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9155", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.506, 1.338]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.538, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9155, "action": "pickup", "object": "Knife", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9156", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.438, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.851, 1.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9156, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9163", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.475, 0.909]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.419." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9163, "action": "putdown", "object": "Knife", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9166", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.370, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.329." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9166, "action": "putdown", "object": "Knife", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9167", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.291, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9167, "action": "pickup", "object": "Knife", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9168", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.317, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.586]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9168, "action": "putdown", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9169", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.319, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9169, "action": "putdown", "object": "Knife", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9170", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.321, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.610]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9170, "action": "putdown", "object": "Knife", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9172", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.354, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.236, 1.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9172, "action": "carry", "object": "Knife", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9173", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.328, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.199, 1.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.934." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9173, "action": "carry", "object": "Knife", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9243", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.318, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9243, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9246", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.908, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9246, "action": "carry", "object": "Knife", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9252", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.251, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.316, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9252, "action": "putdown", "object": "Knife", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9256", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.582, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.744]). The trajectory involves 5 precise waypoints with total movement distance of 1.256." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9256, "action": "carry", "object": "Knife", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9258", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.590, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 0.892]). The trajectory involves 5 precise waypoints with total movement distance of 1.081." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9258, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9268", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.313, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.845, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9268, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9274", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.178]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9274, "action": "carry", "object": "Knife", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9275", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 1.231]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.528." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9275, "action": "carry", "object": "Knife", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9278", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.588, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 0.924]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9278, "action": "carry", "object": "Knife", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9279", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.684, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.183, 1.040]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9279, "action": "carry", "object": "Knife", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9291", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.439, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.867, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9291, "action": "carry", "object": "Knife", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9295", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.873, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.418, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9295, "action": "carry", "object": "Knife", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9297", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.251, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.246, 1.494]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9297, "action": "putdown", "object": "Knife", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9303", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.548, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.833, 0.799]). The trajectory involves 5 precise waypoints with total movement distance of 0.996." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9303, "action": "carry", "object": "Knife", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9304", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.556, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.923, 0.882]). The trajectory involves 5 precise waypoints with total movement distance of 0.884." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9304, "action": "carry", "object": "Knife", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9341", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.930, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.940, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9341, "action": "putdown", "object": "Knife", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9349", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.340, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9349, "action": "putdown", "object": "Knife", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9352", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.479, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.722]). The trajectory involves 5 precise waypoints with total movement distance of 1.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9352, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9353", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.459, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.640]). The trajectory involves 5 precise waypoints with total movement distance of 1.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9353, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9354", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.638]). The trajectory involves 5 precise waypoints with total movement distance of 1.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9354, "action": "carry", "object": "Knife", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9355", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.627]). The trajectory involves 5 precise waypoints with total movement distance of 1.298." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9355, "action": "carry", "object": "Knife", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9356", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.405, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.616]). The trajectory involves 5 precise waypoints with total movement distance of 1.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9356, "action": "carry", "object": "Knife", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9357", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.412, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.626]). The trajectory involves 5 precise waypoints with total movement distance of 1.234." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9357, "action": "carry", "object": "Knife", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9401", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.380, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.856, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9401, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9405", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.056, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.013, 1.769]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9405, "action": "putdown", "object": "Knife", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9409", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.053, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9409, "action": "carry", "object": "Knife", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9414", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.542, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.684]). The trajectory involves 5 precise waypoints with total movement distance of 1.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9414, "action": "carry", "object": "Knife", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9415", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.514, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.579]). The trajectory involves 5 precise waypoints with total movement distance of 1.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9415, "action": "carry", "object": "Knife", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9417", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.439, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.616]). The trajectory involves 5 precise waypoints with total movement distance of 1.229." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9417, "action": "carry", "object": "Knife", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9418", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.703]). The trajectory involves 5 precise waypoints with total movement distance of 1.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9418, "action": "carry", "object": "Knife", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9419", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.686, 0.742]). The trajectory involves 5 precise waypoints with total movement distance of 1.050." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9419, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9420", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.704, 0.782]). The trajectory involves 5 precise waypoints with total movement distance of 1.015." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9420, "action": "carry", "object": "Knife", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9443", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.445, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.841, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9443, "action": "carry", "object": "Knife", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9447", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.005, 1.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.038, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9447, "action": "putdown", "object": "Knife", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9449", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.070, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.012, 1.603]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9449, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9450", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.082, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.013, 1.626]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9450, "action": "putdown", "object": "Knife", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9452", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.089, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.022]). The trajectory involves 5 precise waypoints with total movement distance of 0.645." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9452, "action": "carry", "object": "Knife", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9454", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.060, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 0.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9454, "action": "carry", "object": "Knife", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9459", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.341, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9459, "action": "putdown", "object": "Knife", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9465", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.639, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.816, 0.806]). The trajectory involves 5 precise waypoints with total movement distance of 1.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9465, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9466", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.620, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.786, 0.736]). The trajectory involves 5 precise waypoints with total movement distance of 1.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9466, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9467", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.600, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.741]). The trajectory involves 5 precise waypoints with total movement distance of 1.121." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9467, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9468", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.587, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.834, 0.792]). The trajectory involves 5 precise waypoints with total movement distance of 1.023." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9468, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9483", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.085, 1.190]). The trajectory involves 5 precise waypoints with total movement distance of 0.586." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9483, "action": "carry", "object": "Knife", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9484", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.600, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.148, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9484, "action": "carry", "object": "Knife", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9487", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [2.099, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.134, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9487, "action": "pickup", "object": "Knife", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9488", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.065, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9488, "action": "carry", "object": "Knife", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9489", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.019, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.142]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9489, "action": "carry", "object": "Knife", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9491", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.438, 1.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.356." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9491, "action": "putdown", "object": "Knife", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9492", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.425, 1.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.446, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.324." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9492, "action": "putdown", "object": "Knife", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9501", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.752, 0.750]). The trajectory involves 5 precise waypoints with total movement distance of 1.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9501, "action": "carry", "object": "Knife", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9502", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.756, 0.789]). The trajectory involves 5 precise waypoints with total movement distance of 1.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9502, "action": "carry", "object": "Knife", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9503", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.787, 0.853]). The trajectory involves 5 precise waypoints with total movement distance of 1.059." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9503, "action": "carry", "object": "Knife", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9517", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.545, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9517, "action": "pickup", "object": "Knife", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9518", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.928, 0.801]). The trajectory involves 5 precise waypoints with total movement distance of 0.428." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9518, "action": "carry", "object": "Knife", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9555", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.101, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.098, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9555, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9556", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.108, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.085, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9556, "action": "putdown", "object": "Knife", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9558", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.044, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9558, "action": "carry", "object": "Knife", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9577", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.409, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9577, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9580", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.003, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9580, "action": "carry", "object": "Knife", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9581", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.994, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.637." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9581, "action": "carry", "object": "Knife", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9589", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.492, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.630]). The trajectory involves 5 precise waypoints with total movement distance of 1.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9589, "action": "carry", "object": "Knife", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9592", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.483, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.785, 0.614]). The trajectory involves 5 precise waypoints with total movement distance of 1.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9592, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9593", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.478, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.840, 0.631]). The trajectory involves 5 precise waypoints with total movement distance of 1.126." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9593, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9594", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.457, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.830, 0.701]). The trajectory involves 5 precise waypoints with total movement distance of 1.059." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9594, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9605", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.397, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.356, 1.117]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9605, "action": "pickup", "object": "Knife", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9606", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.367, 1.249]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.262]). The trajectory involves 5 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9606, "action": "carry", "object": "Knife", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9610", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.920, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9610, "action": "carry", "object": "Knife", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9611", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.402, 1.094]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 1.438]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9611, "action": "putdown", "object": "Knife", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9612", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.367, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9612, "action": "putdown", "object": "Knife", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9613", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.352, 1.145]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9613, "action": "putdown", "object": "Knife", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9615", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.364, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.392, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9615, "action": "putdown", "object": "Knife", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9629", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N32_S184_s02_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S184_s02_T4/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N32_S184_s02_T4/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.473, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.105, 0.828]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9629, "action": "carry", "object": "Knife", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9639", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.460, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9639, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9642", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.914, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9642, "action": "carry", "object": "Knife", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9643", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.913, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.550." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9643, "action": "carry", "object": "Knife", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9648", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.299, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.423]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9648, "action": "putdown", "object": "Knife", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9654", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.617, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.950, 0.810]). The trajectory involves 5 precise waypoints with total movement distance of 1.035." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9654, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9656", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.570, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.947, 0.802]). The trajectory involves 5 precise waypoints with total movement distance of 0.943." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9656, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9657", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.565, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.967, 0.832]). The trajectory involves 5 precise waypoints with total movement distance of 0.934." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9657, "action": "carry", "object": "Knife", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9668", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.660, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 1.213]). The trajectory involves 5 precise waypoints with total movement distance of 1.214." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9668, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9669", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.675, 1.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 1.257]). The trajectory involves 5 precise waypoints with total movement distance of 1.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9669, "action": "carry", "object": "Knife", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9682", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.426, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9682, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9687", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.957, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.914, 1.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9687, "action": "putdown", "object": "Knife", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9691", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.028, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.200]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9691, "action": "carry", "object": "Knife", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9738", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.402, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.825, 1.167]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9738, "action": "carry", "object": "Knife", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9748", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.111, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9748, "action": "carry", "object": "Knife", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9754", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.299, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.310, 1.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9754, "action": "putdown", "object": "Knife", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9756", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.285, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9756, "action": "putdown", "object": "Knife", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9757", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.287, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.874]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9757, "action": "putdown", "object": "Knife", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9763", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.872, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 1.015." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9763, "action": "carry", "object": "Knife", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9764", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.619, 1.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.964, 0.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.960." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9764, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9766", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.099, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.870." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9766, "action": "carry", "object": "Knife", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9819", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.467, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9819, "action": "carry", "object": "Knife", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9823", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.941, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9823, "action": "carry", "object": "Knife", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9835", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.636, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.145, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9835, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9836", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.622, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.057, 1.150]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9836, "action": "carry", "object": "Knife", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9837", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.623, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.976, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.806." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9837, "action": "carry", "object": "Knife", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9838", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.622, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.934, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.854." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9838, "action": "carry", "object": "Knife", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9839", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.604, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.908, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.841." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9839, "action": "carry", "object": "Knife", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9840", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.901, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.821." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9840, "action": "carry", "object": "Knife", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9841", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.585, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.976, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9841, "action": "carry", "object": "Knife", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9843", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.558, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.066, 1.131]). The trajectory involves 5 precise waypoints with total movement distance of 0.680." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9843, "action": "carry", "object": "Knife", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9844", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.530, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.116, 1.122]). The trajectory involves 5 precise waypoints with total movement distance of 0.650." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9844, "action": "carry", "object": "Knife", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9847", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.531, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.174]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9847, "action": "carry", "object": "Knife", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9868", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.410, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9868, "action": "pickup", "object": "Knife", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9869", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.386, 1.181]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.560." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9869, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9870", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.395, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9870, "action": "carry", "object": "Knife", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9872", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.956, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.945, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9872, "action": "pickup", "object": "Knife", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9873", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.968, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.047]). The trajectory involves 5 precise waypoints with total movement distance of 0.562." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9873, "action": "carry", "object": "Knife", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9874", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.429, 0.984]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9874, "action": "putdown", "object": "Knife", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9886", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N25_S186_s03_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S186_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N25_S186_s03_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.303, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.900." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9886, "action": "carry", "object": "Knife", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9897", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.480, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.237]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9897, "action": "pickup", "object": "Knife", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9898", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.431, 1.269]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.885, 1.178]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9898, "action": "carry", "object": "Knife", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9900", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.424, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.937, 1.142]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9900, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9902", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.970, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.987, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9902, "action": "putdown", "object": "Knife", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9903", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.007, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9903, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9905", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.982, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.594." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9905, "action": "carry", "object": "Knife", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9906", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.393, 1.025]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.318, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9906, "action": "putdown", "object": "Knife", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9914", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N23_S186_s03_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S186_s03_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N23_S186_s03_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [0.870, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.061, 1.015]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9914, "action": "carry", "object": "Knife", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9930", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.044, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9930, "action": "carry", "object": "Knife", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9931", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.015, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9931, "action": "carry", "object": "Knife", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9932", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.969, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9932, "action": "carry", "object": "Knife", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9934", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.477, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9934, "action": "putdown", "object": "Knife", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9938", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.396, 1.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 1.036." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9938, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9939", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.381, 1.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 1.168]). The trajectory involves 5 precise waypoints with total movement distance of 1.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9939, "action": "carry", "object": "Knife", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_9943", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.295, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.249, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 9943, "action": "putdown", "object": "Knife", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_10012", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.283, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.294, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10012, "action": "putdown", "object": "Knife", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_10015", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.304, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10015, "action": "putdown", "object": "Knife", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_10026", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.408, 1.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 1.092]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10026, "action": "carry", "object": "Kettle", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10033", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.995, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.501." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10033, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10034", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.977, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10034, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10065", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.673, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.011, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 1.711." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10065, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10066", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.673, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.014, 1.398]). The trajectory involves 5 precise waypoints with total movement distance of 1.725." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10066, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10067", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.051, 1.399]). The trajectory involves 5 precise waypoints with total movement distance of 1.726." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10067, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10068", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.626, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.037, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 1.610." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10068, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10073", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.496, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10073, "action": "pickup", "object": "Kettle", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10074", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.469, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.035, 1.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10074, "action": "carry", "object": "Kettle", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10075", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.480, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.077, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10075, "action": "carry", "object": "Kettle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10076", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.502, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.112, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10076, "action": "carry", "object": "Kettle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10077", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.074, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.122, 1.563]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10077, "action": "putdown", "object": "Kettle", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10079", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.125, 1.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.669, 1.049]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10079, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10089", "task": "pour water from the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pour water from the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.438, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.021, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10089, "action": "dump", "object": "Kettle", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10090", "task": "pour water from the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pour water from the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.415, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.015, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10090, "action": "dump", "object": "Kettle", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10091", "task": "pour water from the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pour water from the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.347, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.032, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 0.414." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10091, "action": "dump", "object": "Kettle", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10092", "task": "pour water from the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pour water from the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.263, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.071, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10092, "action": "dump", "object": "Kettle", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10126", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.419, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.441." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10126, "action": "putdown", "object": "Kettle", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10128", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.635, 1.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.209, 2.225]). The trajectory involves 5 precise waypoints with total movement distance of 1.760." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10128, "action": "carry", "object": "Kettle", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10181", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.032, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10181, "action": "carry", "object": "Kettle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10184", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.113, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.481." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10184, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10185", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.120, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10185, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10187", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.045, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10187, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10188", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.002, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10188, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10189", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.003, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10189, "action": "carry", "object": "Kettle", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10193", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.412, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10193, "action": "putdown", "object": "Kettle", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10197", "task": "pour water from the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pour water from the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.577, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10197, "action": "dump", "object": "Kettle", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10213", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.531, 1.228]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.687, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.378." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10213, "action": "putdown", "object": "Kettle", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10220", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.657, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10220, "action": "pickup", "object": "Kettle", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10221", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.642, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.158, 1.808]). The trajectory involves 5 precise waypoints with total movement distance of 1.968." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10221, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10230", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.082, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.474." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10230, "action": "carry", "object": "Kettle", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10231", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.068, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10231, "action": "carry", "object": "Kettle", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10233", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.990, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10233, "action": "carry", "object": "Kettle", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10234", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.937, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10234, "action": "carry", "object": "Kettle", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10235", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.902, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.464." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10235, "action": "carry", "object": "Kettle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10236", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.884, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.443, 1.267]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10236, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10237", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.395, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.275, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10237, "action": "putdown", "object": "Kettle", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10241", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.356, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.306, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10241, "action": "putdown", "object": "Kettle", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10242", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.401, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.356, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10242, "action": "putdown", "object": "Kettle", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10264", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.321, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10264, "action": "putdown", "object": "Kettle", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10268", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.535, 1.868]). The trajectory involves 5 precise waypoints with total movement distance of 2.370." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10268, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10325", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.188, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.693, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10325, "action": "carry", "object": "Kettle", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10326", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.206, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.757, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10326, "action": "carry", "object": "Kettle", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10327", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.209, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10327, "action": "carry", "object": "Kettle", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10328", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.219, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.274]). The trajectory involves 5 precise waypoints with total movement distance of 0.553." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10328, "action": "carry", "object": "Kettle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10329", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.260, 1.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.279]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10329, "action": "carry", "object": "Kettle", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10330", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.322, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10330, "action": "carry", "object": "Kettle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10331", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.394, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.909, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10331, "action": "carry", "object": "Kettle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10332", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.916, 1.317]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10332, "action": "carry", "object": "Kettle", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10336", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.088, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.073, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10336, "action": "putdown", "object": "Kettle", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10342", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.108, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.787." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10342, "action": "carry", "object": "Kettle", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10343", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.022, 1.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.800." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10343, "action": "carry", "object": "Kettle", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10344", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.028, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.272, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10344, "action": "carry", "object": "Kettle", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10367", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N44_S184_s05_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S184_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N44_S184_s05_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.531, 1.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.032, 1.801]). The trajectory involves 5 precise waypoints with total movement distance of 1.629." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10367, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10378", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [2.006, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.012, 1.083]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10378, "action": "pickup", "object": "Kettle", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10385", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.297, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.303, 1.462]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10385, "action": "putdown", "object": "Kettle", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10393", "task": "dump the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: dump the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.328, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.136, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10393, "action": "dump", "object": "Kettle", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10425", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.466, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.780, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10425, "action": "putdown", "object": "Kettle", "frame_index": 141, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10488", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.001, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10488, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10489", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.986, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.473." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10489, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10498", "task": "pour water from the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pour water from the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.622, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.150, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.496." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10498, "action": "dump", "object": "Kettle", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10520", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.297, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 1.973." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10520, "action": "carry", "object": "Kettle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10525", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.554, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.069, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 1.588." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10525, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10541", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N40_S235_s04_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S235_s04_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S235_s04_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.150, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 0.996]). The trajectory involves 5 precise waypoints with total movement distance of 0.682." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10541, "action": "carry", "object": "Kettle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10562", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.542, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.692, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10562, "action": "putdown", "object": "Kettle", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10567", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.328, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.764, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.543." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10567, "action": "putdown", "object": "Kettle", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10575", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.586, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.224, 1.395]). The trajectory involves 5 precise waypoints with total movement distance of 1.443." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10575, "action": "carry", "object": "Kettle", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10581", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.513, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.182, 1.751]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10581, "action": "putdown", "object": "Kettle", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10587", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.359, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.902, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10587, "action": "carry", "object": "Kettle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10592", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.094, 1.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 0.921]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10592, "action": "carry", "object": "Kettle", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10594", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.065, 1.076]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 0.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10594, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10599", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.496, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.412, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10599, "action": "putdown", "object": "Kettle", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10681", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.149, 1.222]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.176, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10681, "action": "putdown", "object": "Kettle", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10682", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.124, 1.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.141, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10682, "action": "putdown", "object": "Kettle", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10686", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.088, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10686, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10688", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.036, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10688, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10696", "task": "dump the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: dump the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.464, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.106, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10696, "action": "dump", "object": "Kettle", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10716", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.112, 1.704]). The trajectory involves 5 precise waypoints with total movement distance of 1.733." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10716, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10718", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.588, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.023, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 1.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10718, "action": "carry", "object": "Kettle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10719", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.585, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.023, 1.727]). The trajectory involves 5 precise waypoints with total movement distance of 1.634." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10719, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10768", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.172, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.967, 1.076]). The trajectory involves 5 precise waypoints with total movement distance of 0.801." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10768, "action": "carry", "object": "Kettle", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10769", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.221, 1.123]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.788." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10769, "action": "carry", "object": "Kettle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10771", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.322, 1.096]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.094, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.786." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10771, "action": "carry", "object": "Kettle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10777", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.234, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.116, 1.616]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10777, "action": "putdown", "object": "Kettle", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10785", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.125, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 1.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.953." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10785, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10789", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.169, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.149, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10789, "action": "putdown", "object": "Kettle", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10812", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.553, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.028, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 1.697." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10812, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10814", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.551, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.078, 1.781]). The trajectory involves 5 precise waypoints with total movement distance of 1.572." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10814, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10822", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10822, "action": "carry", "object": "Kettle", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10830", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.847, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.428." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10830, "action": "carry", "object": "Kettle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10831", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.875, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 1.145]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10831, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10832", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.842, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.465, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10832, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10841", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.303, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.388, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10841, "action": "putdown", "object": "Kettle", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10843", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.289, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.366, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10843, "action": "putdown", "object": "Kettle", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10869", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.658, 1.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10869, "action": "pickup", "object": "Kettle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10871", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.104, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 1.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10871, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10884", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N33_S235_s03_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N33_S235_s03_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N33_S235_s03_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.020, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10884, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10916", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N33_S184_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N33_S184_s02_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N33_S184_s02_T2/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.145, 1.741]). The trajectory involves 5 precise waypoints with total movement distance of 1.841." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10916, "action": "carry", "object": "Kettle", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10969", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.415, 1.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.905, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10969, "action": "carry", "object": "Kettle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10976", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.983, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10976, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10981", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.812, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.010]). The trajectory involves 5 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10981, "action": "carry", "object": "Kettle", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_10985", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.274, 1.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.495]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 10985, "action": "putdown", "object": "Kettle", "frame_index": 250, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11009", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.540, 1.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.238, 1.554]). The trajectory involves 5 precise waypoints with total movement distance of 1.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11009, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11012", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 1.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11012, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11013", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.581, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 1.369." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11013, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11067", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.947, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.049, 1.551]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11067, "action": "putdown", "object": "Kettle", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11069", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.997, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.983, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11069, "action": "pickup", "object": "Kettle", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11070", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.976, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.578." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11070, "action": "carry", "object": "Kettle", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11115", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.515, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.011, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11115, "action": "carry", "object": "Kettle", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11123", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.059, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.050]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11123, "action": "carry", "object": "Kettle", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11157", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.577, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.185, 1.666]). The trajectory involves 5 precise waypoints with total movement distance of 1.878." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11157, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11158", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.592, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.254, 1.710]). The trajectory involves 5 precise waypoints with total movement distance of 1.952." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11158, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11168", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.789, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.860, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11168, "action": "putdown", "object": "Kettle", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11173", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.966, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11173, "action": "carry", "object": "Kettle", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11175", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.882, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.269]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11175, "action": "carry", "object": "Kettle", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11176", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.245, 1.106]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.157, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11176, "action": "putdown", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11220", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.608, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.047, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11220, "action": "carry", "object": "Kettle", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11224", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.997, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.473." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11224, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11227", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.936, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11227, "action": "carry", "object": "Kettle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11228", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.539, 1.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.449, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11228, "action": "putdown", "object": "Kettle", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11229", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.553, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11229, "action": "putdown", "object": "Kettle", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11259", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.610, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.191, 1.802]). The trajectory involves 5 precise waypoints with total movement distance of 1.903." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11259, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11260", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.635, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.194, 1.715]). The trajectory involves 5 precise waypoints with total movement distance of 1.928." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11260, "action": "carry", "object": "Kettle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11270", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.326, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.057]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11270, "action": "carry", "object": "Kettle", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11277", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.002, 1.153]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11277, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11322", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.348, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.935, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11322, "action": "carry", "object": "Kettle", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11324", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.363, 1.077]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11324, "action": "carry", "object": "Kettle", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11329", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.018, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11329, "action": "carry", "object": "Kettle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11335", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.930, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.071]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11335, "action": "carry", "object": "Kettle", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11336", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.894, 1.168]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.478, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11336, "action": "carry", "object": "Kettle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11340", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.741, 1.078]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.361, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.443." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11340, "action": "carry", "object": "Kettle", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11359", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.203, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.634." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11359, "action": "putdown", "object": "Kettle", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11361", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.501, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.250, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 1.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11361, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11365", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.501, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.077, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 1.652." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11365, "action": "carry", "object": "Kettle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11366", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.504, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.017, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 1.620." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11366, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11374", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.443, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.899, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11374, "action": "carry", "object": "Kettle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11375", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.457, 1.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.905, 1.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11375, "action": "carry", "object": "Kettle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11383", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.027, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11383, "action": "carry", "object": "Kettle", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11410", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.508, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.210, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 1.365." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11410, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11411", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.519, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.054, 1.308]). The trajectory involves 5 precise waypoints with total movement distance of 1.641." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11411, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11414", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.562, 1.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.051, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 1.679." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11414, "action": "carry", "object": "Kettle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11415", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.153, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 1.477." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11415, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11421", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.047, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.675, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11421, "action": "carry", "object": "Kettle", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11425", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.140, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11425, "action": "carry", "object": "Kettle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11426", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.189, 1.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.796, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.624." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11426, "action": "carry", "object": "Kettle", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11427", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.305, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11427, "action": "carry", "object": "Kettle", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11433", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.003, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.603]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11433, "action": "putdown", "object": "Kettle", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11439", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.758, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.104, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11439, "action": "carry", "object": "Kettle", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11446", "task": "dump the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N19_S186_s02_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S186_s02_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N19_S186_s02_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: dump the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.355, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.032, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11446, "action": "dump", "object": "Kettle", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11541", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.858, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 1.547." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11541, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11545", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.885, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 1.446." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11545, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11550", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.864, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.816, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 1.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11550, "action": "carry", "object": "Kettle", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11561", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11561, "action": "carry", "object": "Kettle", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11562", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.615, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11562, "action": "carry", "object": "Kettle", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11566", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.492, 1.269]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11566, "action": "putdown", "object": "Kettle", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11587", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N15_S186_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S186_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N15_S186_s02_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.588, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.003, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 1.649." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11587, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11591", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N13_S236_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S236_s03_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S236_s03_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.313, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.145]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11591, "action": "pickup", "object": "Kettle", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11627", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.601, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.062, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 1.747." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11627, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11628", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.080, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 1.778." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11628, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11630", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.023, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 1.681." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11630, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_11784", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.484, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11784, "action": "putdown", "object": "Pliers", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_11785", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.453, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11785, "action": "putdown", "object": "Pliers", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_11799", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s04_T4/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s04_T4/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s04_T4/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.540, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11799, "action": "putdown", "object": "Pliers", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_11902", "task": "carry Pliers to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N55_S368_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N55_S368_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N55_S368_s01_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.875, 0.995]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 0.956]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 11902, "action": "carry", "object": "Pliers", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12106", "task": "carry Pliers to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N41_S243_s04_T4/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N41_S243_s04_T4/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N41_S243_s04_T4/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.760, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 1.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12106, "action": "carry", "object": "Pliers", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12125", "task": "carry Pliers to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N40_S243_s04_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N40_S243_s04_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N40_S243_s04_T4/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.852, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.787, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 1.113." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12125, "action": "carry", "object": "Pliers", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12228", "task": "pickup the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pickup the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: pickup the pliers, execute the following phases: 1) Initial approach phase (start at [1.486, 1.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12228, "action": "carry", "object": "Pliers", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12236", "task": "carry Pliers to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.739, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.968." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12236, "action": "carry", "object": "Pliers", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12289", "task": "pick up the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.470, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12289, "action": "putdown", "object": "Pliers", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12290", "task": "pick up the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.509, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.459, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12290, "action": "putdown", "object": "Pliers", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12292", "task": "pick up the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.469, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.438, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12292, "action": "putdown", "object": "Pliers", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_12367", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12367, "action": "push", "object": "Toy Car", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12380", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.352, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.900, 1.717]). The trajectory involves 5 precise waypoints with total movement distance of 0.573." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12380, "action": "pull", "object": "Toy Car", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12391", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.532, 1.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12391, "action": "push", "object": "Toy Car", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12392", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.528, 1.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12392, "action": "push", "object": "Toy Car", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12404", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.586]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12404, "action": "pull", "object": "Toy Car", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12405", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.899, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.372." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12405, "action": "pull", "object": "Toy Car", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12410", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.592, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.099, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12410, "action": "pull", "object": "Toy Car", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12411", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.622, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.111, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12411, "action": "pull", "object": "Toy Car", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12413", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.665, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.124, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12413, "action": "pull", "object": "Toy Car", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12544", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.477, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12544, "action": "pull", "object": "Toy Car", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12549", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00257.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00258.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.637, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.929, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12549, "action": "pull", "object": "Toy Car", "frame_index": 259, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12551", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.648, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12551, "action": "pickup", "object": "Toy Car", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12562", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.611, 1.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 2.073]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12562, "action": "putdown", "object": "Toy Car", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12615", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N44_S240_s01_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N44_S240_s01_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N44_S240_s01_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.659, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.663, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12615, "action": "pull", "object": "Toy Car", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12643", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.406, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.818, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12643, "action": "pull", "object": "Toy Car", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12649", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.555, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.795, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12649, "action": "pull", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12726", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N41_S240_s01_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S240_s01_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S240_s01_T2/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.806, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.157, 1.412]). The trajectory involves 5 precise waypoints with total movement distance of 0.359." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12726, "action": "pull", "object": "Toy Car", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12741", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.617, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.639, 1.936]). The trajectory involves 5 precise waypoints with total movement distance of 1.097." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12741, "action": "carry", "object": "Toy Car", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12744", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.682, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.477, 1.777]). The trajectory involves 5 precise waypoints with total movement distance of 0.828." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12744, "action": "carry", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12764", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N41_S17_s01_T3/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S17_s01_T3/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N41_S17_s01_T3/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.675, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12764, "action": "putdown", "object": "Toy Car", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12877", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.522, 1.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12877, "action": "pickup", "object": "Toy Car", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12882", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.677, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.187, 2.098]). The trajectory involves 5 precise waypoints with total movement distance of 1.595." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12882, "action": "carry", "object": "Toy Car", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12887", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.725, 1.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 1.985]). The trajectory involves 5 precise waypoints with total movement distance of 1.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12887, "action": "carry", "object": "Toy Car", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12888", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.651, 1.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 1.981]). The trajectory involves 5 precise waypoints with total movement distance of 1.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12888, "action": "carry", "object": "Toy Car", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12898", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.609, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12898, "action": "pull", "object": "Toy Car", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12900", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.603, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12900, "action": "pull", "object": "Toy Car", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12905", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.804, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.291]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12905, "action": "push", "object": "Toy Car", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12911", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.437, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12911, "action": "pull", "object": "Toy Car", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12926", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.576, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.862, 2.303]). The trajectory involves 5 precise waypoints with total movement distance of 1.438." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12926, "action": "carry", "object": "Toy Car", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12929", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.567, 1.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.735, 2.189]). The trajectory involves 5 precise waypoints with total movement distance of 1.313." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12929, "action": "carry", "object": "Toy Car", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12932", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.565, 1.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.431, 1.890]). The trajectory involves 5 precise waypoints with total movement distance of 0.922." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12932, "action": "carry", "object": "Toy Car", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_12933", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.316, 1.814]). The trajectory involves 5 precise waypoints with total movement distance of 0.823." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 12933, "action": "carry", "object": "Toy Car", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13068", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.549, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.193, 2.140]). The trajectory involves 5 precise waypoints with total movement distance of 1.458." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13068, "action": "carry", "object": "Toy Car", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13072", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 2.029]). The trajectory involves 5 precise waypoints with total movement distance of 1.402." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13072, "action": "carry", "object": "Toy Car", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13080", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.537, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13080, "action": "push", "object": "Toy Car", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13089", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.285, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.843, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.569." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13089, "action": "pull", "object": "Toy Car", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13093", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.371, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13093, "action": "pull", "object": "Toy Car", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13102", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.536, 1.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.573, 2.068]). The trajectory involves 5 precise waypoints with total movement distance of 1.119." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13102, "action": "carry", "object": "Toy Car", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13122", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.651, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.820]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13122, "action": "carry", "object": "Toy Car", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13255", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.478, 1.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.452." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13255, "action": "carry", "object": "Toy Car", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13266", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.585, 1.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.186, 2.202]). The trajectory involves 5 precise waypoints with total movement distance of 1.519." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13266, "action": "carry", "object": "Toy Car", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13298", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.555, 1.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.301, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 0.802." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13298, "action": "carry", "object": "Toy Car", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13303", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.528, 1.060]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.454, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13303, "action": "carry", "object": "Toy Car", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13353", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.520, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.064, 2.236]). The trajectory involves 5 precise waypoints with total movement distance of 1.742." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13353, "action": "carry", "object": "Toy Car", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13356", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.551, 1.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.152, 2.366]). The trajectory involves 5 precise waypoints with total movement distance of 1.844." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13356, "action": "carry", "object": "Toy Car", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13359", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.496, 1.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.106, 2.328]). The trajectory involves 5 precise waypoints with total movement distance of 1.730." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13359, "action": "carry", "object": "Toy Car", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13360", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.504, 1.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.022, 2.248]). The trajectory involves 5 precise waypoints with total movement distance of 1.599." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13360, "action": "carry", "object": "Toy Car", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13361", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.512, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.136, 2.156]). The trajectory involves 5 precise waypoints with total movement distance of 1.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13361, "action": "carry", "object": "Toy Car", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13362", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.507, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.204, 2.135]). The trajectory involves 5 precise waypoints with total movement distance of 1.423." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13362, "action": "carry", "object": "Toy Car", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13364", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.522, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 2.060]). The trajectory involves 5 precise waypoints with total movement distance of 1.263." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13364, "action": "carry", "object": "Toy Car", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13365", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 1.974]). The trajectory involves 5 precise waypoints with total movement distance of 1.108." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13365, "action": "carry", "object": "Toy Car", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13377", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.018, 1.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13377, "action": "carry", "object": "Toy Car", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13380", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.918, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.357, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13380, "action": "carry", "object": "Toy Car", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13383", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.231, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13383, "action": "putdown", "object": "Toy Car", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13388", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.441, 1.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.655, 2.129]). The trajectory involves 5 precise waypoints with total movement distance of 1.320." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13388, "action": "carry", "object": "Toy Car", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13404", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.592, 1.215]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.456." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13404, "action": "carry", "object": "Toy Car", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13456", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 1.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13456, "action": "carry", "object": "Toy Car", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13458", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.628, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 1.923]). The trajectory involves 5 precise waypoints with total movement distance of 1.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13458, "action": "carry", "object": "Toy Car", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13469", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.487, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.039, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13469, "action": "carry", "object": "Toy Car", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13478", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.950, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.108]). The trajectory involves 5 precise waypoints with total movement distance of 0.581." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13478, "action": "carry", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13510", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.513, 1.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.505, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13510, "action": "pickup", "object": "Toy Car", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13519", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.574, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.088, 2.484]). The trajectory involves 5 precise waypoints with total movement distance of 1.713." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13519, "action": "carry", "object": "Toy Car", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13530", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S239_s03_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S239_s03_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S239_s03_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.078, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.531." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13530, "action": "carry", "object": "Toy Car", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13542", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.481, 1.983]). The trajectory involves 5 precise waypoints with total movement distance of 1.047." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13542, "action": "carry", "object": "Toy Car", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13543", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.532, 1.984]). The trajectory involves 5 precise waypoints with total movement distance of 1.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13543, "action": "carry", "object": "Toy Car", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13544", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.520, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.579, 1.976]). The trajectory involves 5 precise waypoints with total movement distance of 1.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13544, "action": "carry", "object": "Toy Car", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13547", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.739, 2.146]). The trajectory involves 5 precise waypoints with total movement distance of 1.331." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13547, "action": "carry", "object": "Toy Car", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13561", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.498, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.471, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13561, "action": "carry", "object": "Toy Car", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13580", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S244_s03_T4/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S244_s03_T4/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S244_s03_T4/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.650, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.075, 2.135]). The trajectory involves 5 precise waypoints with total movement distance of 1.662." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13580, "action": "carry", "object": "Toy Car", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13596", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S239_s03_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S239_s03_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S239_s03_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.034, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13596, "action": "carry", "object": "Toy Car", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13608", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.490, 1.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.470, 2.034]). The trajectory involves 5 precise waypoints with total movement distance of 1.054." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13608, "action": "carry", "object": "Toy Car", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13609", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.467, 1.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.468, 1.999]). The trajectory involves 5 precise waypoints with total movement distance of 1.065." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13609, "action": "carry", "object": "Toy Car", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13613", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.492, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.481, 1.882]). The trajectory involves 5 precise waypoints with total movement distance of 1.043." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13613, "action": "carry", "object": "Toy Car", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13615", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.454, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.394, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 1.008." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13615, "action": "carry", "object": "Toy Car", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13619", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.459, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.379, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 0.946." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13619, "action": "carry", "object": "Toy Car", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13625", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.719, 1.244]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13625, "action": "carry", "object": "Toy Car", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13632", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N30_S244_s03_T4/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N30_S244_s03_T4/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N30_S244_s03_T4/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.463, 1.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.371." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13632, "action": "pickup", "object": "Toy Car", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13662", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N30_S242_s05_T3/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N30_S242_s05_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N30_S242_s05_T3/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.425, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.451, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 1.060." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13662, "action": "carry", "object": "Toy Car", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13827", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N28_S244_s02_T4/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N28_S244_s02_T4/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N28_S244_s02_T4/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.574, 1.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.059, 2.045]). The trajectory involves 5 precise waypoints with total movement distance of 1.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13827, "action": "carry", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13940", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.511, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.740, 2.204]). The trajectory involves 5 precise waypoints with total movement distance of 1.358." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13940, "action": "carry", "object": "Toy Car", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13941", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.522, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.738, 2.136]). The trajectory involves 5 precise waypoints with total movement distance of 1.338." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13941, "action": "carry", "object": "Toy Car", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13942", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.498, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.684, 2.080]). The trajectory involves 5 precise waypoints with total movement distance of 1.296." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13942, "action": "carry", "object": "Toy Car", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13964", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.349, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.896, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13964, "action": "carry", "object": "Toy Car", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13972", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.891, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13972, "action": "carry", "object": "Toy Car", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13973", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.282, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.274, 1.616]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13973, "action": "putdown", "object": "Toy Car", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13987", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.634, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.088, 2.107]). The trajectory involves 5 precise waypoints with total movement distance of 1.683." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13987, "action": "carry", "object": "Toy Car", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13990", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.592, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.040, 2.038]). The trajectory involves 5 precise waypoints with total movement distance of 1.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13990, "action": "carry", "object": "Toy Car", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13994", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.640, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 1.842]). The trajectory involves 5 precise waypoints with total movement distance of 1.346." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13994, "action": "carry", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_13998", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 1.845]). The trajectory involves 5 precise waypoints with total movement distance of 1.033." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 13998, "action": "carry", "object": "Toy Car", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14003", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.491, 1.956]). The trajectory involves 5 precise waypoints with total movement distance of 1.042." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14003, "action": "carry", "object": "Toy Car", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14006", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.498, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.576, 1.943]). The trajectory involves 5 precise waypoints with total movement distance of 1.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14006, "action": "carry", "object": "Toy Car", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14028", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.379, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14028, "action": "carry", "object": "Toy Car", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14032", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.968, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.369, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14032, "action": "carry", "object": "Toy Car", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14036", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.232, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.635]). The trajectory involves 5 precise waypoints with total movement distance of 0.310." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14036, "action": "putdown", "object": "Toy Car", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14049", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.640, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.137, 1.910]). The trajectory involves 5 precise waypoints with total movement distance of 1.558." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14049, "action": "carry", "object": "Toy Car", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14051", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.701, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 1.855]). The trajectory involves 5 precise waypoints with total movement distance of 1.421." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14051, "action": "carry", "object": "Toy Car", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14064", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.607, 2.083]). The trajectory involves 5 precise waypoints with total movement distance of 1.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14064, "action": "carry", "object": "Toy Car", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14065", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.573, 1.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.613, 2.077]). The trajectory involves 5 precise waypoints with total movement distance of 1.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14065, "action": "carry", "object": "Toy Car", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14066", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.588, 2.042]). The trajectory involves 5 precise waypoints with total movement distance of 1.138." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14066, "action": "carry", "object": "Toy Car", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14071", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.562, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.630, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 1.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14071, "action": "carry", "object": "Toy Car", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14073", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.554, 1.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.618, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14073, "action": "carry", "object": "Toy Car", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14119", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.616, 1.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.233, 2.134]). The trajectory involves 5 precise waypoints with total movement distance of 1.541." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14119, "action": "carry", "object": "Toy Car", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14123", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 1.850]). The trajectory involves 5 precise waypoints with total movement distance of 1.082." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14123, "action": "carry", "object": "Toy Car", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14127", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.343, 1.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14127, "action": "carry", "object": "Toy Car", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14137", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.459, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.507, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 1.102." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14137, "action": "carry", "object": "Toy Car", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14144", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.453, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.168, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.788." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14144, "action": "carry", "object": "Toy Car", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14145", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.456, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.130, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14145, "action": "carry", "object": "Toy Car", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14146", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.456, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.093, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14146, "action": "carry", "object": "Toy Car", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14161", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.520, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.135, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14161, "action": "carry", "object": "Toy Car", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14170", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.914, 1.162]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.279, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14170, "action": "carry", "object": "Toy Car", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14183", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.403, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.675, 1.985]). The trajectory involves 5 precise waypoints with total movement distance of 1.386." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14183, "action": "carry", "object": "Toy Car", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14185", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.408, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.588, 1.893]). The trajectory involves 5 precise waypoints with total movement distance of 1.278." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14185, "action": "carry", "object": "Toy Car", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14187", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.467, 1.871]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14187, "action": "carry", "object": "Toy Car", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14192", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.093, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.635." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14192, "action": "carry", "object": "Toy Car", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14202", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.326, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14202, "action": "carry", "object": "Toy Car", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14203", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.336, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14203, "action": "carry", "object": "Toy Car", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14207", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [2.014, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.046, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14207, "action": "putdown", "object": "Toy Car", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14210", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.001, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.113]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14210, "action": "carry", "object": "Toy Car", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14230", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.685, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 1.750]). The trajectory involves 5 precise waypoints with total movement distance of 1.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14230, "action": "carry", "object": "Toy Car", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14231", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.686, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 1.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14231, "action": "carry", "object": "Toy Car", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14248", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.528, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.594, 1.759]). The trajectory involves 5 precise waypoints with total movement distance of 1.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14248, "action": "carry", "object": "Toy Car", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14252", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.566, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.593, 1.726]). The trajectory involves 5 precise waypoints with total movement distance of 1.073." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14252, "action": "carry", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14265", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.544, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.737]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14265, "action": "carry", "object": "Toy Car", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14277", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N21_S239_s01_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S239_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N21_S239_s01_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.985, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14277, "action": "carry", "object": "Toy Car", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14290", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14290, "action": "pull", "object": "Toy Car", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14295", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.741, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.487, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14295, "action": "push", "object": "Toy Car", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14296", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.697, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14296, "action": "push", "object": "Toy Car", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14298", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.449, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.860, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.413." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14298, "action": "pull", "object": "Toy Car", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14299", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.455, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14299, "action": "pull", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14301", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.509, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14301, "action": "pull", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14315", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S237_s05_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S237_s05_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S237_s05_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.103, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14315, "action": "carry", "object": "Toy Car", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14336", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N20_S194_s05_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S194_s05_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N20_S194_s05_T4/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.457, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.121, 1.887]). The trajectory involves 5 precise waypoints with total movement distance of 1.714." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14336, "action": "carry", "object": "Toy Car", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14346", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.525, 1.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.305]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14346, "action": "carry", "object": "Toy Car", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14354", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.331, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14354, "action": "putdown", "object": "Toy Car", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14377", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.561, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14377, "action": "push", "object": "Toy Car", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14392", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 1.399]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14392, "action": "push", "object": "Toy Car", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14398", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.521, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.948, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14398, "action": "pull", "object": "Toy Car", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14399", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.518, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.438." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14399, "action": "pull", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14401", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.641, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.027, 1.553]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14401, "action": "pull", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14413", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S237_s05_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S237_s05_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S237_s05_T1/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.070, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14413, "action": "carry", "object": "Toy Car", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14435", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.082, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 1.640." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14435, "action": "carry", "object": "Toy Car", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14437", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.600, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 1.809]). The trajectory involves 5 precise waypoints with total movement distance of 1.381." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14437, "action": "carry", "object": "Toy Car", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14439", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.547, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 1.890]). The trajectory involves 5 precise waypoints with total movement distance of 1.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14439, "action": "carry", "object": "Toy Car", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14442", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.669, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14442, "action": "push", "object": "Toy Car", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14463", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.890, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14463, "action": "pull", "object": "Toy Car", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14470", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.473, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.021, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.567." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14470, "action": "carry", "object": "Toy Car", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14480", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.000, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.498, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14480, "action": "carry", "object": "Toy Car", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14481", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.977, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14481, "action": "carry", "object": "Toy Car", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14483", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00257.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00258.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.453, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.476]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14483, "action": "putdown", "object": "Toy Car", "frame_index": 259, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14493", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.707, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 1.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14493, "action": "carry", "object": "Toy Car", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14502", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.744, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.667, 1.664]). The trajectory involves 5 precise waypoints with total movement distance of 1.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14502, "action": "carry", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14508", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.550, 1.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14508, "action": "push", "object": "Toy Car", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14510", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.559, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14510, "action": "push", "object": "Toy Car", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14525", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.607, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.834, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14525, "action": "pull", "object": "Toy Car", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14526", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.591, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.809, 1.561]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14526, "action": "pull", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14528", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.682, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14528, "action": "pull", "object": "Toy Car", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14536", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.399, 1.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.119, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.744." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14536, "action": "carry", "object": "Toy Car", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14541", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.382, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.382]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14541, "action": "putdown", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14552", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.630, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.130, 1.977]). The trajectory involves 5 precise waypoints with total movement distance of 1.845." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14552, "action": "carry", "object": "Toy Car", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14556", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.602, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.183, 1.947]). The trajectory involves 5 precise waypoints with total movement distance of 1.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14556, "action": "carry", "object": "Toy Car", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14557", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.316, 2.010]). The trajectory involves 5 precise waypoints with total movement distance of 1.383." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14557, "action": "carry", "object": "Toy Car", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14560", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.610, 1.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.625, 1.979]). The trajectory involves 5 precise waypoints with total movement distance of 1.090." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14560, "action": "carry", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14572", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S237_s02_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S237_s02_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S237_s02_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.938, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.291, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.693." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14572, "action": "carry", "object": "Toy Car", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14581", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.502, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 1.106." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14581, "action": "carry", "object": "Toy Car", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14589", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.511, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.074, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 1.505." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14589, "action": "carry", "object": "Toy Car", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14590", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.524, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.176, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 1.416." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14590, "action": "carry", "object": "Toy Car", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14591", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.555, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.274, 1.583]). The trajectory involves 5 precise waypoints with total movement distance of 1.353." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14591, "action": "carry", "object": "Toy Car", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14593", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.526, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 1.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14593, "action": "carry", "object": "Toy Car", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14595", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.517, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 1.603]). The trajectory involves 5 precise waypoints with total movement distance of 1.021." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14595, "action": "carry", "object": "Toy Car", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14605", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N05_S237_s02_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N05_S237_s02_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N05_S237_s02_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.950, 1.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.344, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14605, "action": "carry", "object": "Toy Car", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14632", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.309, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.019, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14632, "action": "carry", "object": "Toy Car", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14633", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.333, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.054, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.767." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14633, "action": "carry", "object": "Toy Car", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14634", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.363, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.068, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14634, "action": "carry", "object": "Toy Car", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14636", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [2.063, 1.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.078, 1.588]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14636, "action": "pickup", "object": "Toy Car", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14637", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.045, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.767." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14637, "action": "carry", "object": "Toy Car", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14640", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.924, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.267, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14640, "action": "carry", "object": "Toy Car", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14663", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.473, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.939, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14663, "action": "pull", "object": "Toy Car", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14667", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.605, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14667, "action": "pull", "object": "Toy Car", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14671", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.294, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.051, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14671, "action": "carry", "object": "Toy Car", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14679", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.233, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.256, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14679, "action": "putdown", "object": "Toy Car", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14693", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.653, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.400, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14693, "action": "push", "object": "Toy Car", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14694", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.633, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14694, "action": "push", "object": "Toy Car", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14702", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.429, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.838, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.416." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14702, "action": "pull", "object": "Toy Car", "frame_index": 253, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_14708", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800004_H4_C1_N01_S237_s01_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S237_s01_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800004_H4_C1_N01_S237_s01_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.047, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 14708, "action": "carry", "object": "Toy Car", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_16040", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.500, 1.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16040, "action": "carry", "object": "Bucket", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_16067", "task": "carry Bucket to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the left, execute the following phases: 1) Initial approach phase (start at [1.354, 1.106]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.140, 1.015]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16067, "action": "carry", "object": "Bucket", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_16304", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.541, 1.172]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.876, 1.954]). The trajectory involves 5 precise waypoints with total movement distance of 0.897." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16304, "action": "open", "object": "Safe", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16310", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.660, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16310, "action": "close", "object": "Safe", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16311", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.591, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16311, "action": "close", "object": "Safe", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16312", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.571, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16312, "action": "close", "object": "Safe", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16315", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.526, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.720." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16315, "action": "open", "object": "Safe", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16328", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.495, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16328, "action": "close", "object": "Safe", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16335", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.780, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16335, "action": "close", "object": "Safe", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16339", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.483, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.835, 1.842]). The trajectory involves 5 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16339, "action": "open", "object": "Safe", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16341", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.464, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.930, 1.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.854." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16341, "action": "open", "object": "Safe", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16349", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.590, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16349, "action": "close", "object": "Safe", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16350", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.507, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16350, "action": "close", "object": "Safe", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16381", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.918, 1.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16381, "action": "close", "object": "Safe", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16384", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.727, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.118]). The trajectory involves 5 precise waypoints with total movement distance of 0.542." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16384, "action": "close", "object": "Safe", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16398", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.554, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.692." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16398, "action": "open", "object": "Safe", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16400", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.552, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.028, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.683." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16400, "action": "open", "object": "Safe", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16401", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.696]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16401, "action": "open", "object": "Safe", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16402", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.549, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.000, 1.652]). The trajectory involves 5 precise waypoints with total movement distance of 0.594." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16402, "action": "open", "object": "Safe", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16403", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.574, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.964, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16403, "action": "open", "object": "Safe", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16406", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.867, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.419, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.698." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16406, "action": "close", "object": "Safe", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16415", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.656, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.066, 1.698]). The trajectory involves 5 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16415, "action": "open", "object": "Safe", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16416", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.646, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.113, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16416, "action": "open", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16419", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.912, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.041]). The trajectory involves 5 precise waypoints with total movement distance of 0.738." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16419, "action": "close", "object": "Safe", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16421", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.803, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 1.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16421, "action": "close", "object": "Safe", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16433", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.406, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 2.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16433, "action": "open", "object": "Safe", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16434", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.373, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.821, 2.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16434, "action": "open", "object": "Safe", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16470", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.467, 1.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16470, "action": "close", "object": "Safe", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16475", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.365, 1.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.751, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.772." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16475, "action": "close", "object": "Safe", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16477", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.306, 1.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.838, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.665." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16477, "action": "close", "object": "Safe", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16479", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.273, 1.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.060, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16479, "action": "close", "object": "Safe", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16536", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.574, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16536, "action": "close", "object": "Safe", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16538", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.559, 1.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16538, "action": "close", "object": "Safe", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16541", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.575, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.267, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16541, "action": "close", "object": "Safe", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16547", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00256.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.480, 1.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16547, "action": "close", "object": "Safe", "frame_index": 257, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16557", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.460, 1.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 2.281]). The trajectory involves 5 precise waypoints with total movement distance of 0.543." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16557, "action": "open", "object": "Safe", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16563", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.415, 1.939]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.800, 2.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16563, "action": "open", "object": "Safe", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16571", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.535, 1.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.280, 1.732]). The trajectory involves 5 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16571, "action": "close", "object": "Safe", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16583", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.414, 1.939]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16583, "action": "close", "object": "Safe", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16590", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.405, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.901]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16590, "action": "open", "object": "Safe", "frame_index": 161, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16602", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.347, 1.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 2.161]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16602, "action": "open", "object": "Safe", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16619", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.334, 1.877]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.164, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16619, "action": "close", "object": "Safe", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16634", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.465, 0.985]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.415]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16634, "action": "open", "object": "Safe", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16635", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00005.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00006.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00007.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.711, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16635, "action": "open", "object": "Safe", "frame_index": 7, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16638", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00029.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.513, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.598]). The trajectory involves 5 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16638, "action": "open", "object": "Safe", "frame_index": 29, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16639", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00031.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.499, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 1.666]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16639, "action": "open", "object": "Safe", "frame_index": 31, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16640", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.463, 1.186]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.733]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16640, "action": "open", "object": "Safe", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16642", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.471, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16642, "action": "open", "object": "Safe", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16648", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.691, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.424, 1.022]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16648, "action": "close", "object": "Safe", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16658", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.098]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16658, "action": "open", "object": "Safe", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16664", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.462, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16664, "action": "open", "object": "Safe", "frame_index": 128, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16667", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.505, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16667, "action": "open", "object": "Safe", "frame_index": 134, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16668", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.551, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.506]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16668, "action": "open", "object": "Safe", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16677", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.764, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16677, "action": "close", "object": "Safe", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16703", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.756, 1.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16703, "action": "close", "object": "Safe", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16711", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.985, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.476, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16711, "action": "close", "object": "Safe", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16715", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.657, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.460, 1.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16715, "action": "close", "object": "Safe", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16736", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.772, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 0.985]). The trajectory involves 5 precise waypoints with total movement distance of 0.402." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16736, "action": "close", "object": "Safe", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16743", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.832, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16743, "action": "close", "object": "Safe", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16763", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.622, 1.047]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.143, 1.506]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16763, "action": "open", "object": "Safe", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16769", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.803, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16769, "action": "close", "object": "Safe", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16778", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.828, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16778, "action": "close", "object": "Safe", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16779", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.786, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16779, "action": "close", "object": "Safe", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_16814", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N14_S251_s04_T3/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N14_S251_s04_T3/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N14_S251_s04_T3/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.684, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 16814, "action": "close", "object": "Safe", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17057", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.337, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17057, "action": "open", "object": "Safe", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17085", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.531, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17085, "action": "close", "object": "Safe", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17099", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.427, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17099, "action": "close", "object": "Safe", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17115", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.465, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.758, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17115, "action": "open", "object": "Safe", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17118", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.661, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17118, "action": "close", "object": "Safe", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17119", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.647, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.457, 1.382]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17119, "action": "close", "object": "Safe", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17123", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.518, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17123, "action": "open", "object": "Safe", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17137", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.560, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17137, "action": "open", "object": "Safe", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17138", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.552, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17138, "action": "open", "object": "Safe", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17147", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.508, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.667, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17147, "action": "open", "object": "Safe", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17153", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.593, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.534, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17153, "action": "close", "object": "Safe", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17166", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.517, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17166, "action": "open", "object": "Safe", "frame_index": 159, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17170", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.518, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17170, "action": "open", "object": "Safe", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17172", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.508, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17172, "action": "open", "object": "Safe", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17174", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17174, "action": "open", "object": "Safe", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17176", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.545, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17176, "action": "open", "object": "Safe", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17178", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.460, 1.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17178, "action": "open", "object": "Safe", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17181", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.482, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17181, "action": "open", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17182", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.499, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17182, "action": "open", "object": "Safe", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17200", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.585, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.480]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17200, "action": "open", "object": "Safe", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17203", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.675, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.323]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17203, "action": "close", "object": "Safe", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17205", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.577, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.711, 1.506]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17205, "action": "open", "object": "Safe", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17227", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.404, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17227, "action": "open", "object": "Safe", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17244", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.457, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17244, "action": "close", "object": "Safe", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17248", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.450, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17248, "action": "close", "object": "Safe", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17289", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.469, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.424, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17289, "action": "close", "object": "Safe", "frame_index": 254, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17300", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N02_S251_s01_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S251_s01_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N02_S251_s01_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.567, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.609]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17300, "action": "open", "object": "Safe", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17325", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.481, 1.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.728, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17325, "action": "open", "object": "Safe", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17368", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.406, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 1.360]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17368, "action": "open", "object": "Safe", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17372", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.485, 1.211]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.361]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17372, "action": "open", "object": "Safe", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17373", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.482, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17373, "action": "open", "object": "Safe", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17376", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17376, "action": "open", "object": "Safe", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17382", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.487, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.133." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17382, "action": "open", "object": "Safe", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17405", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.466, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17405, "action": "open", "object": "Safe", "frame_index": 177, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17408", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.479, 1.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17408, "action": "open", "object": "Safe", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17438", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C6_N01_S251_s01_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S251_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C6_N01_S251_s01_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.617, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17438, "action": "open", "object": "Safe", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_17462", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N48_S61_s04_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N48_S61_s04_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N48_S61_s04_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.403, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.747]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17462, "action": "putdown", "object": "Bottle", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17531", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.251, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.270, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17531, "action": "carry", "object": "Bottle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17548", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.421, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.042, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17548, "action": "carry", "object": "Bottle", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17549", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.449, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.044, 1.187]). The trajectory involves 5 precise waypoints with total movement distance of 0.420." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17549, "action": "carry", "object": "Bottle", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17550", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.406, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.971, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17550, "action": "carry", "object": "Bottle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17551", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.948, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.477." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17551, "action": "carry", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17554", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.394, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.865, 1.211]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17554, "action": "carry", "object": "Bottle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17555", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.858, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17555, "action": "carry", "object": "Bottle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17556", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.395, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.819, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17556, "action": "carry", "object": "Bottle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17562", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.356, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.765, 1.281]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17562, "action": "carry", "object": "Bottle", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17563", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.362, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.779, 1.283]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17563, "action": "carry", "object": "Bottle", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17569", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.292, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17569, "action": "carry", "object": "Bottle", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17571", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.300, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17571, "action": "carry", "object": "Bottle", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17589", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.316, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17589, "action": "putdown", "object": "Bottle", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17591", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.307, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17591, "action": "putdown", "object": "Bottle", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17599", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.326, 1.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17599, "action": "putdown", "object": "Bottle", "frame_index": 124, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17606", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.330, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.313, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17606, "action": "putdown", "object": "Bottle", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17607", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.328, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.312, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17607, "action": "putdown", "object": "Bottle", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17632", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.424, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17632, "action": "putdown", "object": "Bottle", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17637", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.357, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17637, "action": "putdown", "object": "Bottle", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17767", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.380, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.988, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17767, "action": "carry", "object": "Bottle", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17768", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.342, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.960, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17768, "action": "carry", "object": "Bottle", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17770", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.332, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.560." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17770, "action": "carry", "object": "Bottle", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17775", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.368, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17775, "action": "carry", "object": "Bottle", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17776", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.368, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.779, 1.569]). The trajectory involves 5 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17776, "action": "carry", "object": "Bottle", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17778", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.382, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17778, "action": "carry", "object": "Bottle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17781", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.405, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.759, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17781, "action": "carry", "object": "Bottle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_17859", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.621, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17859, "action": "open", "object": "Storage Furniture", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17862", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.614, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.648]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17862, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17867", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17867, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17868", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.571, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.829]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17868, "action": "open", "object": "Storage Furniture", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17869", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.528, 1.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17869, "action": "open", "object": "Storage Furniture", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17870", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.519, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.781]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17870, "action": "open", "object": "Storage Furniture", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17873", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.557, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.518, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17873, "action": "open", "object": "Storage Furniture", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17875", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.626]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17875, "action": "close", "object": "Storage Furniture", "frame_index": 104, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17876", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.499, 1.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17876, "action": "close", "object": "Storage Furniture", "frame_index": 106, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17877", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.490, 1.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.537]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17877, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17878", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.511, 1.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17878, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17879", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.521, 1.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17879, "action": "close", "object": "Storage Furniture", "frame_index": 112, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17882", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.513, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17882, "action": "close", "object": "Storage Furniture", "frame_index": 118, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17887", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17887, "action": "close", "object": "Storage Furniture", "frame_index": 128, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17900", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.834]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17900, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17902", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.531, 1.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.822]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17902, "action": "open", "object": "Storage Furniture", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17905", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.470, 1.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.689]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17905, "action": "close", "object": "Storage Furniture", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17908", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.463, 1.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.576]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17908, "action": "close", "object": "Storage Furniture", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17909", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.516, 1.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17909, "action": "close", "object": "Storage Furniture", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17926", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.516, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.508, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17926, "action": "open", "object": "Storage Furniture", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17927", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.488, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17927, "action": "open", "object": "Storage Furniture", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17932", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.500, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17932, "action": "open", "object": "Storage Furniture", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17933", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.444, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17933, "action": "open", "object": "Storage Furniture", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17935", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.461, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.679]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17935, "action": "open", "object": "Storage Furniture", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17936", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.434, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.412, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.119." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17936, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17943", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.430, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.445]). The trajectory involves 5 precise waypoints with total movement distance of 0.143." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17943, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17946", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.421, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17946, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17947", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.410, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.419, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17947, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17948", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.413, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17948, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17953", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17953, "action": "open", "object": "Storage Furniture", "frame_index": 152, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17956", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.434, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.410, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17956, "action": "open", "object": "Storage Furniture", "frame_index": 160, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17957", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.443, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17957, "action": "open", "object": "Storage Furniture", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17965", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.452, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17965, "action": "open", "object": "Storage Furniture", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17972", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.400, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.121." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17972, "action": "close", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17974", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.438, 1.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.449]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17974, "action": "close", "object": "Storage Furniture", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_17988", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.661, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.675, 1.772]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17988, "action": "open", "object": "Storage Furniture", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17989", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.683, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.691, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17989, "action": "open", "object": "Storage Furniture", "frame_index": 45, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17990", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.680, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17990, "action": "open", "object": "Storage Furniture", "frame_index": 47, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17991", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.675, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.757]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17991, "action": "open", "object": "Storage Furniture", "frame_index": 49, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_17992", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.673, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.777]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 17992, "action": "open", "object": "Storage Furniture", "frame_index": 51, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18002", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.600, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18002, "action": "open", "object": "Storage Furniture", "frame_index": 71, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18005", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.518, 1.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.573]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18005, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18006", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.522, 1.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18006, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18007", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18007, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18008", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.547, 1.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18008, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18010", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.533, 1.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18010, "action": "close", "object": "Storage Furniture", "frame_index": 107, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18030", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.633, 1.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.938]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18030, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18031", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.637, 1.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.922]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18031, "action": "open", "object": "Storage Furniture", "frame_index": 198, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18043", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.574, 1.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18043, "action": "close", "object": "Storage Furniture", "frame_index": 241, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18047", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 1.561]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18047, "action": "close", "object": "Storage Furniture", "frame_index": 249, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18050", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.630, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18050, "action": "close", "object": "Storage Furniture", "frame_index": 255, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18051", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00256.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.638, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18051, "action": "close", "object": "Storage Furniture", "frame_index": 257, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18054", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00261.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00262.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00263.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.660, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18054, "action": "close", "object": "Storage Furniture", "frame_index": 263, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18060", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.539, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18060, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18069", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.462, 1.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18069, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18073", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.489, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.534, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18073, "action": "close", "object": "Storage Furniture", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18074", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18074, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18075", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.496, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18075, "action": "close", "object": "Storage Furniture", "frame_index": 111, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18101", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.442, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.406, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18101, "action": "open", "object": "Storage Furniture", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18103", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.376, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18103, "action": "close", "object": "Storage Furniture", "frame_index": 237, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18116", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.287, 0.974]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18116, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18117", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00008.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00009.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00010.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.294, 1.030]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18117, "action": "open", "object": "Storage Furniture", "frame_index": 10, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18120", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.406, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.404, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.094." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18120, "action": "open", "object": "Storage Furniture", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18129", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18129, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18135", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.241, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18135, "action": "open", "object": "Storage Furniture", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18139", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.190, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.260]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18139, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18140", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.244, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.245, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18140, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18148", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.227, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 1.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18148, "action": "close", "object": "Storage Furniture", "frame_index": 118, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18150", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.285, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.121." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18150, "action": "close", "object": "Storage Furniture", "frame_index": 122, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18157", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.289, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.304, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18157, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18165", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.258, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.258, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18165, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18169", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.290, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18169, "action": "close", "object": "Storage Furniture", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18173", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.277, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18173, "action": "close", "object": "Storage Furniture", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18183", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N42_S48_s01_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N42_S48_s01_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N42_S48_s01_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.642, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.483]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18183, "action": "open", "object": "Storage Furniture", "frame_index": 41, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18296", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.508, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.483, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18296, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18300", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.630]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18300, "action": "open", "object": "Storage Furniture", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18313", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.498]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18313, "action": "close", "object": "Storage Furniture", "frame_index": 121, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18314", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.406, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18314, "action": "close", "object": "Storage Furniture", "frame_index": 123, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18315", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.423, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18315, "action": "close", "object": "Storage Furniture", "frame_index": 125, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18319", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00131.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.425, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.457, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18319, "action": "close", "object": "Storage Furniture", "frame_index": 133, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18320", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.441, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.361]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18320, "action": "close", "object": "Storage Furniture", "frame_index": 135, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18322", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.166, 0.943]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.159, 0.933]). The trajectory involves 5 precise waypoints with total movement distance of 0.032." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18322, "action": "open", "object": "Storage Furniture", "frame_index": 168, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18348", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.358, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.431, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18348, "action": "close", "object": "Storage Furniture", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18349", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.383, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18349, "action": "close", "object": "Storage Furniture", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18364", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.372, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18364, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18365", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.545]). The trajectory involves 5 precise waypoints with total movement distance of 0.141." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18365, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18366", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.350, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18366, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18367", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.307, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.293, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18367, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18369", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.520]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18369, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18417", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.293, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.315, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18417, "action": "close", "object": "Storage Furniture", "frame_index": 240, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18420", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.056, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 1.692]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18420, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18423", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00039.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.131, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18423, "action": "open", "object": "Storage Furniture", "frame_index": 39, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18425", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.210, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.339." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18425, "action": "open", "object": "Storage Furniture", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18427", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18427, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18428", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.229, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.374." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18428, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18429", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.413, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18429, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18430", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.222, 1.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18430, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18431", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.208, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.648]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18431, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18432", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.205, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18432, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18433", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.196, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.333, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18433, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18434", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.195, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18434, "action": "open", "object": "Storage Furniture", "frame_index": 72, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18435", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.177, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.305, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18435, "action": "open", "object": "Storage Furniture", "frame_index": 74, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18436", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.184, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.305, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18436, "action": "open", "object": "Storage Furniture", "frame_index": 76, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18440", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.211, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.973, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18440, "action": "close", "object": "Storage Furniture", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18443", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.172, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.012, 1.279]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18443, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18444", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.126, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.957, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18444, "action": "close", "object": "Storage Furniture", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18445", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.116, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.984, 1.281]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18445, "action": "close", "object": "Storage Furniture", "frame_index": 114, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18446", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.106, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.012, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18446, "action": "close", "object": "Storage Furniture", "frame_index": 116, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18456", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.171, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18456, "action": "open", "object": "Storage Furniture", "frame_index": 178, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18458", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.196, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.492]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18458, "action": "open", "object": "Storage Furniture", "frame_index": 185, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18460", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.222, 1.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18460, "action": "open", "object": "Storage Furniture", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18461", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.182, 1.174]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.277, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.374." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18461, "action": "open", "object": "Storage Furniture", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18462", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.211, 1.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18462, "action": "open", "object": "Storage Furniture", "frame_index": 193, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18463", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.202, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.343." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18463, "action": "open", "object": "Storage Furniture", "frame_index": 195, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18464", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.224, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18464, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18465", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.233, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18465, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18466", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.231, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18466, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18467", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.227, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18467, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18469", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.197, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18469, "action": "open", "object": "Storage Furniture", "frame_index": 207, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18470", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.232, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.683]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18470, "action": "open", "object": "Storage Furniture", "frame_index": 209, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18472", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.209, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18472, "action": "open", "object": "Storage Furniture", "frame_index": 213, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18473", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18473, "action": "open", "object": "Storage Furniture", "frame_index": 215, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18477", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.167, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18477, "action": "close", "object": "Storage Furniture", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18479", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.279, 1.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.145, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18479, "action": "close", "object": "Storage Furniture", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18484", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.195, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.089, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18484, "action": "close", "object": "Storage Furniture", "frame_index": 256, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18486", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00258.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00259.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00260.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.174, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.098, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18486, "action": "close", "object": "Storage Furniture", "frame_index": 260, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18487", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00260.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00261.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.155, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.059, 1.311]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18487, "action": "close", "object": "Storage Furniture", "frame_index": 262, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18505", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.300, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18505, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18507", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.308, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 0.074." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18507, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18514", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.312, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.133." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18514, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18516", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.300, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18516, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18518", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18518, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18550", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.328, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18550, "action": "close", "object": "Storage Furniture", "frame_index": 233, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18551", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.324, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18551, "action": "close", "object": "Storage Furniture", "frame_index": 235, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18553", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.326, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18553, "action": "close", "object": "Storage Furniture", "frame_index": 239, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18554", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.325, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.126." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18554, "action": "close", "object": "Storage Furniture", "frame_index": 241, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18559", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00031.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.131, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.209, 1.516]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18559, "action": "open", "object": "Storage Furniture", "frame_index": 31, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18562", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.154, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.240, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18562, "action": "open", "object": "Storage Furniture", "frame_index": 46, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18564", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.121, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.192, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18564, "action": "open", "object": "Storage Furniture", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18565", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.118, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.242, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18565, "action": "open", "object": "Storage Furniture", "frame_index": 52, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18566", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.108, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18566, "action": "open", "object": "Storage Furniture", "frame_index": 54, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18567", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.110, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18567, "action": "open", "object": "Storage Furniture", "frame_index": 56, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18568", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.116, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.292, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18568, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18569", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.098, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18569, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18570", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.095, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18570, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18572", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.108, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.743]). The trajectory involves 5 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18572, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18573", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.106, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18573, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18574", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.105, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18574, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18575", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.104, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18575, "action": "open", "object": "Storage Furniture", "frame_index": 72, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18576", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.107, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.257, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18576, "action": "open", "object": "Storage Furniture", "frame_index": 74, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18577", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.109, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.259, 1.785]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18577, "action": "open", "object": "Storage Furniture", "frame_index": 75, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18580", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.178, 1.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.050, 1.402]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18580, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18584", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.122, 1.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.969, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18584, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18587", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.077, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.999, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18587, "action": "close", "object": "Storage Furniture", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18588", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.048, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.972, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18588, "action": "close", "object": "Storage Furniture", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18589", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.045, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.975, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18589, "action": "close", "object": "Storage Furniture", "frame_index": 119, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18590", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.032, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.969, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18590, "action": "close", "object": "Storage Furniture", "frame_index": 121, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18591", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.032, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.983, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18591, "action": "close", "object": "Storage Furniture", "frame_index": 123, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18592", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.034, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.981, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18592, "action": "close", "object": "Storage Furniture", "frame_index": 125, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18593", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.022, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.979, 1.423]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18593, "action": "close", "object": "Storage Furniture", "frame_index": 127, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18598", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.117, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18598, "action": "open", "object": "Storage Furniture", "frame_index": 170, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18599", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.133, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.389." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18599, "action": "open", "object": "Storage Furniture", "frame_index": 175, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18600", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.123, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.292, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18600, "action": "open", "object": "Storage Furniture", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18601", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.135, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18601, "action": "open", "object": "Storage Furniture", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18603", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.116, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18603, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18606", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.115, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.388." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18606, "action": "open", "object": "Storage Furniture", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18611", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.128, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.277, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18611, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18612", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.134, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.257, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18612, "action": "open", "object": "Storage Furniture", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18613", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.139, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.255, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18613, "action": "open", "object": "Storage Furniture", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18616", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.207, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.095, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18616, "action": "close", "object": "Storage Furniture", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18619", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.093, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18619, "action": "close", "object": "Storage Furniture", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18620", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.067, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.349." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18620, "action": "close", "object": "Storage Furniture", "frame_index": 240, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18622", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.220, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.014, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18622, "action": "close", "object": "Storage Furniture", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18624", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.173, 1.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.065, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18624, "action": "close", "object": "Storage Furniture", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18627", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.104, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.017, 1.356]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18627, "action": "close", "object": "Storage Furniture", "frame_index": 254, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_18654", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.173, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.149, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18654, "action": "close", "object": "Storage Furniture", "frame_index": 116, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18657", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.274, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.315]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18657, "action": "open", "object": "Storage Furniture", "frame_index": 161, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18658", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.259, 1.204]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.269, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18658, "action": "open", "object": "Storage Furniture", "frame_index": 165, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18659", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.265, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18659, "action": "open", "object": "Storage Furniture", "frame_index": 170, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18660", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.241, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.248, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18660, "action": "open", "object": "Storage Furniture", "frame_index": 174, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18662", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.216, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.229, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18662, "action": "open", "object": "Storage Furniture", "frame_index": 181, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18706", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.333, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18706, "action": "close", "object": "Storage Furniture", "frame_index": 86, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18709", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.503, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18709, "action": "open", "object": "Storage Furniture", "frame_index": 145, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18710", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00146.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.512, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.937]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18710, "action": "open", "object": "Storage Furniture", "frame_index": 147, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18711", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00149.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00150.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 1.943]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18711, "action": "open", "object": "Storage Furniture", "frame_index": 150, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18717", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.241, 1.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.371." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18717, "action": "close", "object": "Storage Furniture", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18802", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.135, 2.093]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 1.529]). The trajectory involves 5 precise waypoints with total movement distance of 0.906." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18802, "action": "close", "object": "Storage Furniture", "frame_index": 217, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18803", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.132, 1.956]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18803, "action": "close", "object": "Storage Furniture", "frame_index": 219, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18811", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.543, 1.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.662, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18811, "action": "close", "object": "Storage Furniture", "frame_index": 235, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18814", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.495, 1.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18814, "action": "close", "object": "Storage Furniture", "frame_index": 241, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18815", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.479, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.515, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18815, "action": "close", "object": "Storage Furniture", "frame_index": 243, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18872", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.086, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.710, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.806." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18872, "action": "close", "object": "Storage Furniture", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18873", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.134, 1.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 1.195]). The trajectory involves 5 precise waypoints with total movement distance of 0.980." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18873, "action": "close", "object": "Storage Furniture", "frame_index": 207, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18874", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.968, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.980." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18874, "action": "close", "object": "Storage Furniture", "frame_index": 211, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18875", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.240, 1.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.998, 1.175]). The trajectory involves 5 precise waypoints with total movement distance of 0.988." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18875, "action": "close", "object": "Storage Furniture", "frame_index": 215, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18877", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.221, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.769, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18877, "action": "close", "object": "Storage Furniture", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18882", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 0.910]). The trajectory involves 5 precise waypoints with total movement distance of 0.572." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18882, "action": "close", "object": "Storage Furniture", "frame_index": 232, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_18884", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.528, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 0.876]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18884, "action": "close", "object": "Storage Furniture", "frame_index": 236, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_18885", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.238, 1.057]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 0.842]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18885, "action": "close", "object": "Storage Furniture", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_18888", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.287, 1.024]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.300, 0.898]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18888, "action": "close", "object": "Storage Furniture", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_18962", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.124, 2.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18962, "action": "close", "object": "Storage Furniture", "frame_index": 213, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18972", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.457, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18972, "action": "close", "object": "Storage Furniture", "frame_index": 233, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18979", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.439, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18979, "action": "close", "object": "Storage Furniture", "frame_index": 247, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_18984", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.005, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.003, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18984, "action": "open", "object": "Storage Furniture", "frame_index": 115, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_18987", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.313, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 18987, "action": "open", "object": "Storage Furniture", "frame_index": 129, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_19039", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.857, 2.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 0.827." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19039, "action": "close", "object": "Storage Furniture", "frame_index": 177, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19040", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.986, 2.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19040, "action": "close", "object": "Storage Furniture", "frame_index": 183, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19041", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.077, 2.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.742, 1.831]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19041, "action": "close", "object": "Storage Furniture", "frame_index": 189, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19042", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.075, 2.103]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.812]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19042, "action": "close", "object": "Storage Furniture", "frame_index": 191, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19043", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.076, 2.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.742, 1.797]). The trajectory involves 5 precise waypoints with total movement distance of 0.794." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19043, "action": "close", "object": "Storage Furniture", "frame_index": 193, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19044", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.108, 2.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.718, 1.743]). The trajectory involves 5 precise waypoints with total movement distance of 0.781." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19044, "action": "close", "object": "Storage Furniture", "frame_index": 195, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19054", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.071, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19054, "action": "close", "object": "Storage Furniture", "frame_index": 215, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_19072", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.587, 1.005]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.190, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 1.676." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19072, "action": "carry", "object": "Laptop", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19073", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.562, 1.014]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.237, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 1.754." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19073, "action": "carry", "object": "Laptop", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19088", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.796, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.858, 0.935]). The trajectory involves 5 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19088, "action": "open", "object": "Laptop", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19092", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.953, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.945, 0.928]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19092, "action": "close", "object": "Laptop", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19098", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.690, 0.983]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.199, 1.730]). The trajectory involves 5 precise waypoints with total movement distance of 1.708." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19098, "action": "carry", "object": "Laptop", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19108", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.931, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.898, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19108, "action": "close", "object": "Laptop", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19110", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.887, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.026]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19110, "action": "close", "object": "Laptop", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19124", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N49_S284_s03_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N49_S284_s03_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N49_S284_s03_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.623, 0.944]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.153, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 1.699." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19124, "action": "carry", "object": "Laptop", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19142", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N49_S282_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N49_S282_s01_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N49_S282_s01_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 0.986]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.027, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 1.576." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19142, "action": "carry", "object": "Laptop", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19175", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N48_S284_s02_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N48_S284_s02_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N48_S284_s02_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.978, 1.005]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19175, "action": "close", "object": "Laptop", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19181", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N48_S282_s01_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N48_S282_s01_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N48_S282_s01_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.744, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.347, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 1.725." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19181, "action": "carry", "object": "Laptop", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19202", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.647, 1.050]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.036, 1.311]). The trajectory involves 5 precise waypoints with total movement distance of 1.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19202, "action": "carry", "object": "Laptop", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19212", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.901, 1.000]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.852, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19212, "action": "close", "object": "Laptop", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19232", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N46_S282_s01_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N46_S282_s01_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N46_S282_s01_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.972, 1.061]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.912, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19232, "action": "close", "object": "Laptop", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19262", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N45_S279_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N45_S279_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N45_S279_s05_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.649, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19262, "action": "open", "object": "Laptop", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19278", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N44_S279_s05_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N44_S279_s05_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N44_S279_s05_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.714, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.387, 2.123]). The trajectory involves 5 precise waypoints with total movement distance of 2.024." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19278, "action": "carry", "object": "Laptop", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19319", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N40_S279_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N40_S279_s04_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N40_S279_s04_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.061, 1.853]). The trajectory involves 5 precise waypoints with total movement distance of 1.724." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19319, "action": "carry", "object": "Laptop", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19342", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.706, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.263, 2.419]). The trajectory involves 5 precise waypoints with total movement distance of 1.827." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19342, "action": "carry", "object": "Laptop", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19349", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.980, 1.068]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.904, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19349, "action": "close", "object": "Laptop", "frame_index": 252, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19358", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.723, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.212, 2.083]). The trajectory involves 5 precise waypoints with total movement distance of 1.701." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19358, "action": "carry", "object": "Laptop", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19365", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.776, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.875, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.337." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19365, "action": "open", "object": "Laptop", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19493", "task": "pick up the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.597, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.069]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19493, "action": "pickup", "object": "Laptop", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19496", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.511, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.091, 1.712]). The trajectory involves 5 precise waypoints with total movement distance of 1.673." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19496, "action": "carry", "object": "Laptop", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19497", "task": "put down the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.816, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19497, "action": "putdown", "object": "Laptop", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19516", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.513, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.231, 2.078]). The trajectory involves 5 precise waypoints with total movement distance of 1.880." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19516, "action": "carry", "object": "Laptop", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19517", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.529, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.196, 2.006]). The trajectory involves 5 precise waypoints with total movement distance of 1.819." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19517, "action": "carry", "object": "Laptop", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19529", "task": "pick up the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00043.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.655, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19529, "action": "pickup", "object": "Laptop", "frame_index": 43, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19552", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.942, 1.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19552, "action": "close", "object": "Laptop", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19553", "task": "pick up the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.583, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19553, "action": "pickup", "object": "Laptop", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19556", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.496, 1.063]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.198, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 1.827." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19556, "action": "carry", "object": "Laptop", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19561", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.840, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.865, 1.323]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19561, "action": "open", "object": "Laptop", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19577", "task": "pick up the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.674, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.078]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19577, "action": "pickup", "object": "Laptop", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19579", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.511, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.050, 1.764]). The trajectory involves 5 precise waypoints with total movement distance of 1.670." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19579, "action": "carry", "object": "Laptop", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19601", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 0.945]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.022, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 1.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19601, "action": "carry", "object": "Laptop", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19604", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.569, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.173, 1.481]). The trajectory involves 5 precise waypoints with total movement distance of 1.745." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19604, "action": "carry", "object": "Laptop", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19612", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.713, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.753, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19612, "action": "open", "object": "Laptop", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19613", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.750, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19613, "action": "open", "object": "Laptop", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19622", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.946, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19622, "action": "close", "object": "Laptop", "frame_index": 251, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19626", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.495, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.007, 2.094]). The trajectory involves 5 precise waypoints with total movement distance of 1.764." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19626, "action": "carry", "object": "Laptop", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19628", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.048]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.198, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 1.917." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19628, "action": "carry", "object": "Laptop", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19652", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.702, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19652, "action": "open", "object": "Laptop", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19653", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.754, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.799, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19653, "action": "open", "object": "Laptop", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_19682", "task": "pick up the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N22_S277_s05_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N22_S277_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N22_S277_s05_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the laptop?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.533, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 0.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19682, "action": "pickup", "object": "Laptop", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19734", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N15_S277_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N15_S277_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N15_S277_s03_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.650, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19734, "action": "open", "object": "Laptop", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19741", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N13_S107_s04_T2/align_rgb/00017.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N13_S107_s04_T2/align_rgb/00018.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N13_S107_s04_T2/align_rgb/00019.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.759, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19741, "action": "open", "object": "Laptop", "frame_index": 19, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19834", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.764, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19834, "action": "open", "object": "Laptop", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19836", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.748, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.812, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19836, "action": "open", "object": "Laptop", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19837", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.763, 1.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19837, "action": "open", "object": "Laptop", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19854", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.971, 1.022]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19854, "action": "close", "object": "Laptop", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_19863", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.724, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19863, "action": "open", "object": "Laptop", "frame_index": 177, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19894", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.646, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.052, 2.254]). The trajectory involves 5 precise waypoints with total movement distance of 1.749." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19894, "action": "carry", "object": "Laptop", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_19905", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.996, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.082, 0.983]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 19905, "action": "open", "object": "Laptop", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_20085", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N48_S219_s02_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N48_S219_s02_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N48_S219_s02_T3/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [2.016, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.982, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 1.078." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20085, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20131", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N45_S219_s01_T3/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N45_S219_s01_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N45_S219_s01_T3/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.942, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.055, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.974." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20131, "action": "carry", "object": "Mug", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20145", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00031.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.596, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20145, "action": "pickup", "object": "Mug", "frame_index": 31, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20147", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.613, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20147, "action": "pickup", "object": "Mug", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20148", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.613, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20148, "action": "pickup", "object": "Mug", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20151", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00043.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.541, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20151, "action": "pickup", "object": "Mug", "frame_index": 43, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20161", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.589, 1.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20161, "action": "putdown", "object": "Mug", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20163", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.587, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.412]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20163, "action": "putdown", "object": "Mug", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20166", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.609, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.492]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20166, "action": "putdown", "object": "Mug", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20169", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.621, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20169, "action": "putdown", "object": "Mug", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20174", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.637, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.671, 1.652]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20174, "action": "putdown", "object": "Mug", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20176", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.617, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20176, "action": "putdown", "object": "Mug", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20177", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.621, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.632, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20177, "action": "putdown", "object": "Mug", "frame_index": 114, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20181", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.661, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20181, "action": "pickup", "object": "Mug", "frame_index": 167, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20182", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.630, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20182, "action": "pickup", "object": "Mug", "frame_index": 169, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20183", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.616, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20183, "action": "pickup", "object": "Mug", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20195", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.603, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20195, "action": "putdown", "object": "Mug", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20198", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.616, 1.338]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20198, "action": "putdown", "object": "Mug", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20202", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.632, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20202, "action": "putdown", "object": "Mug", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20203", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.633, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20203, "action": "putdown", "object": "Mug", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20204", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.620, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20204, "action": "putdown", "object": "Mug", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20207", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.641, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20207, "action": "putdown", "object": "Mug", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20223", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N44_S219_s01_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S219_s01_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N44_S219_s01_T3/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.834, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.114, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.781." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20223, "action": "carry", "object": "Mug", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20257", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N42_S217_s05_T2/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N42_S217_s05_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N42_S217_s05_T2/align_rgb/00167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.069, 1.069]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.876, 1.747]). The trajectory involves 5 precise waypoints with total movement distance of 2.052." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20257, "action": "carry", "object": "Mug", "frame_index": 167, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20280", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N41_S217_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N41_S217_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N41_S217_s05_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.229, 1.073]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.716, 1.851]). The trajectory involves 5 precise waypoints with total movement distance of 1.717." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20280, "action": "carry", "object": "Mug", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20310", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N39_S217_s05_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N39_S217_s05_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N39_S217_s05_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.051, 1.328]). The trajectory involves 5 precise waypoints with total movement distance of 0.763." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20310, "action": "carry", "object": "Mug", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20336", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N38_S217_s04_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N38_S217_s04_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N38_S217_s04_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.682, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.723, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 1.291." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20336, "action": "carry", "object": "Mug", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20345", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N37_S217_s04_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N37_S217_s04_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N37_S217_s04_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [2.027, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.413." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20345, "action": "putdown", "object": "Mug", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20392", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.755, 1.031]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.738, 0.887]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20392, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20393", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.788, 1.040]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.874, 0.937]). The trajectory involves 5 precise waypoints with total movement distance of 1.098." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20393, "action": "carry", "object": "Mug", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20394", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.827, 1.017]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 0.921]). The trajectory involves 5 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20394, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20395", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.916, 0.983]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 0.917]). The trajectory involves 5 precise waypoints with total movement distance of 1.111." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20395, "action": "carry", "object": "Mug", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20396", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.990, 0.960]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.010, 0.891]). The trajectory involves 5 precise waypoints with total movement distance of 1.029." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20396, "action": "carry", "object": "Mug", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20405", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.709, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 1.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20405, "action": "carry", "object": "Mug", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20409", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.695, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.202, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20409, "action": "carry", "object": "Mug", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20419", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.198, 1.064]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.939, 1.182]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20419, "action": "carry", "object": "Mug", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20511", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.203, 1.664]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.105, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20511, "action": "pickup", "object": "Mug", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20513", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.120, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.952, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.835." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20513, "action": "carry", "object": "Mug", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20514", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.181, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.803." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20514, "action": "carry", "object": "Mug", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20526", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.122, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.960, 0.961]). The trajectory involves 5 precise waypoints with total movement distance of 0.883." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20526, "action": "carry", "object": "Mug", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20527", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.172, 0.884]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.059, 1.009]). The trajectory involves 5 precise waypoints with total movement distance of 0.936." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20527, "action": "carry", "object": "Mug", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20560", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.952, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 0.995]). The trajectory involves 5 precise waypoints with total movement distance of 0.961." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20560, "action": "carry", "object": "Mug", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20562", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.975, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.906, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.430." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20562, "action": "putdown", "object": "Mug", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20570", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N23_S217_s01_T6/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N23_S217_s01_T6/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N23_S217_s01_T6/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.195, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.170, 1.014]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20570, "action": "pickup", "object": "Mug", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20592", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N22_S217_s01_T6/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N22_S217_s01_T6/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N22_S217_s01_T6/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.123, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.621, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 1.575." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20592, "action": "carry", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20705", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.700, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20705, "action": "pickup", "object": "Mug", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20712", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.854, 1.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.069, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 1.269." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20712, "action": "carry", "object": "Mug", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20727", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.757, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.978, 1.038]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20727, "action": "carry", "object": "Mug", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20733", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.037, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.956, 1.033]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20733, "action": "pickup", "object": "Mug", "frame_index": 158, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20736", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.979, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.189, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 1.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20736, "action": "carry", "object": "Mug", "frame_index": 177, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_20852", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N50_S197_s02_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N50_S197_s02_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N50_S197_s02_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.518, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.835." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20852, "action": "carry", "object": "Stapler", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_20895", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.502, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.800, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.754." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20895, "action": "carry", "object": "Stapler", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_20896", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.490, 1.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.824, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20896, "action": "carry", "object": "Stapler", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_20913", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N47_S197_s01_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N47_S197_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N47_S197_s01_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.549, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.646, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.949." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 20913, "action": "carry", "object": "Stapler", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21075", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.518, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.987, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21075, "action": "carry", "object": "Stapler", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_21077", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.474, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.907, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.573." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21077, "action": "carry", "object": "Stapler", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21080", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.414, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.830, 1.296]). The trajectory involves 5 precise waypoints with total movement distance of 0.618." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21080, "action": "carry", "object": "Stapler", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21082", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.423, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.846, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 0.621." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21082, "action": "carry", "object": "Stapler", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21084", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.397, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.816, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.630." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21084, "action": "carry", "object": "Stapler", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21102", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N36_S195_s03_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N36_S195_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N36_S195_s03_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.562, 1.161]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.875, 1.193]). The trajectory involves 5 precise waypoints with total movement distance of 0.692." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21102, "action": "carry", "object": "Stapler", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21187", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N32_S195_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N32_S195_s02_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N32_S195_s02_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.606, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.723, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.899." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21187, "action": "carry", "object": "Stapler", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21208", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N31_S195_s02_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N31_S195_s02_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N31_S195_s02_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.496, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.846." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21208, "action": "carry", "object": "Stapler", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_21314", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N27_S195_s01_T2/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N27_S195_s01_T2/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N27_S195_s01_T2/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.584, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 1.193]). The trajectory involves 5 precise waypoints with total movement distance of 1.375." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21314, "action": "carry", "object": "Stapler", "frame_index": 145, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21335", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N26_S195_s01_T2/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N26_S195_s01_T2/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N26_S195_s01_T2/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.577, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.378, 1.288]). The trajectory involves 5 precise waypoints with total movement distance of 1.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21335, "action": "carry", "object": "Stapler", "frame_index": 145, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21374", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N23_S197_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N23_S197_s03_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N23_S197_s03_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.572, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.856, 1.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21374, "action": "carry", "object": "Stapler", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21393", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N21_S197_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N21_S197_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N21_S197_s03_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.728, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.904." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21393, "action": "carry", "object": "Stapler", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21414", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N19_S197_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N19_S197_s02_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N19_S197_s02_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.569, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.763, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.860." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21414, "action": "carry", "object": "Stapler", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21438", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N17_S197_s02_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N17_S197_s02_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N17_S197_s02_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.807, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.766." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21438, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base" ] } }, { "id": "hoi4d_21474", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N15_S197_s02_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N15_S197_s02_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N15_S197_s02_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.573, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.868, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21474, "action": "carry", "object": "Stapler", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_21511", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N13_S139_s04_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N13_S139_s04_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N13_S139_s04_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21511, "action": "carry", "object": "Stapler", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_21526", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C18_N11_S139_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N11_S139_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C18_N11_S139_s03_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.575, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.269, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.349." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 21526, "action": "carry", "object": "Stapler", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_22314", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N50_S170_s02_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N50_S170_s02_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N50_S170_s02_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.584, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.069]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22314, "action": "open", "object": "Trash Can", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22337", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N49_S209_s01_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N49_S209_s01_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N49_S209_s01_T2/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.846, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.601, 1.445]). The trajectory involves 5 precise waypoints with total movement distance of 1.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22337, "action": "carry", "object": "Trash Can", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22369", "task": "put down the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N48_S209_s01_T2/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N48_S209_s01_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N48_S209_s01_T2/align_rgb/00167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the trash can?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the trash can, execute the following phases: 1) Initial approach phase (start at [1.596, 1.021]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 1.159]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22369, "action": "putdown", "object": "Trash Can", "frame_index": 167, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_22444", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.654, 1.124]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.669, 0.932]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22444, "action": "open", "object": "Trash Can", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_22463", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.554, 0.938]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.518." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22463, "action": "close", "object": "Trash Can", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_22482", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.803, 1.199]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.004]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22482, "action": "open", "object": "Trash Can", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22483", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.793, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22483, "action": "close", "object": "Trash Can", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22495", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.685, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.676, 1.006]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22495, "action": "open", "object": "Trash Can", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22498", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.714, 1.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 0.955]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22498, "action": "open", "object": "Trash Can", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22574", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.674, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 0.950]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22574, "action": "open", "object": "Trash Can", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22580", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.717, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 1.715]). The trajectory involves 5 precise waypoints with total movement distance of 1.440." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22580, "action": "carry", "object": "Trash Can", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22595", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N42_S166_s05_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N42_S166_s05_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N42_S166_s05_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.714, 1.110]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.699, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22595, "action": "close", "object": "Trash Can", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_22821", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N36_S334_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N36_S334_s03_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N36_S334_s03_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.527, 1.088]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 22821, "action": "close", "object": "Trash Can", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23125", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N28_S166_s01_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N28_S166_s01_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N28_S166_s01_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.543, 1.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 0.860]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23125, "action": "open", "object": "Trash Can", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_23158", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.543, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23158, "action": "open", "object": "Trash Can", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23166", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.450, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 0.981]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23166, "action": "open", "object": "Trash Can", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23180", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s02_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s02_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s02_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 0.989]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.430, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.987." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23180, "action": "carry", "object": "Trash Can", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23210", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s01_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s01_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s01_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.397, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.406, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23210, "action": "close", "object": "Trash Can", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23220", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.769, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23220, "action": "open", "object": "Trash Can", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23244", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.893, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.445]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23244, "action": "close", "object": "Trash Can", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23254", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C14_N11_S209_s03_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N11_S209_s03_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800003_H3_C14_N11_S209_s03_T2/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.760, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 1.355." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23254, "action": "carry", "object": "Trash Can", "frame_index": 155, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_23325", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N49_S144_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N49_S144_s01_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N49_S144_s01_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.761, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23325, "action": "carry", "object": "Knife", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23337", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.714, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23337, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23340", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.844, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 1.553]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23340, "action": "putdown", "object": "Knife", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23345", "task": "cut object with a knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: cut object with a knife?" }, { "from": "gpt", "value": "To complete this object manipulation: cut object with a knife, execute the following phases: 1) Initial approach phase (start at [1.668, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.548, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23345, "action": "cut", "object": "Knife", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23428", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N46_S144_s01_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N46_S144_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N46_S144_s01_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.701, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23428, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23491", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N43_S140_s05_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N43_S140_s05_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N43_S140_s05_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.707, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.310." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23491, "action": "carry", "object": "Knife", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23518", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.655, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23518, "action": "pickup", "object": "Knife", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23520", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.621, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.339, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23520, "action": "carry", "object": "Knife", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23556", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.396, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.987." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23556, "action": "carry", "object": "Knife", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23558", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.510, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.613, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 1.274." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23558, "action": "carry", "object": "Knife", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23614", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N38_S200_s04_T3/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N38_S200_s04_T3/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N38_S200_s04_T3/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.563, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.719, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.850." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23614, "action": "carry", "object": "Knife", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23647", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.369, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.837." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23647, "action": "carry", "object": "Knife", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23650", "task": "put the knife to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the knife to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.391, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23650, "action": "carry", "object": "Knife", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23657", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.712, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23657, "action": "pickup", "object": "Knife", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23660", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.611, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23660, "action": "pickup", "object": "Knife", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23661", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.543, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.754, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.810." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23661, "action": "carry", "object": "Knife", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23665", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 1.404]). The trajectory involves 5 precise waypoints with total movement distance of 0.842." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23665, "action": "carry", "object": "Knife", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23667", "task": "put the knife to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the knife to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.532, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.827." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23667, "action": "carry", "object": "Knife", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23668", "task": "put the knife to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the knife to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.535, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.776." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23668, "action": "carry", "object": "Knife", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23670", "task": "put the knife to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the knife to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.513, 1.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.836, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.746." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23670, "action": "carry", "object": "Knife", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23671", "task": "put the knife to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the knife to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.488, 1.215]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.841, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23671, "action": "carry", "object": "Knife", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23678", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.394, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23678, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23681", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.601, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.349, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23681, "action": "carry", "object": "Knife", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23686", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.394, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.495]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23686, "action": "carry", "object": "Knife", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23704", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N35_S140_s03_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N35_S140_s03_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N35_S140_s03_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23704, "action": "carry", "object": "Knife", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23722", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N34_S140_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N34_S140_s03_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N34_S140_s03_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.552, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23722, "action": "carry", "object": "Knife", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23728", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.651, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23728, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23731", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.560, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 1.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23731, "action": "carry", "object": "Knife", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23779", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N31_S200_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N31_S200_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N31_S200_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23779, "action": "carry", "object": "Knife", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23788", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.525, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.579, 1.752]). The trajectory involves 5 precise waypoints with total movement distance of 1.081." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23788, "action": "carry", "object": "Knife", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23792", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.687, 1.771]). The trajectory involves 5 precise waypoints with total movement distance of 1.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23792, "action": "carry", "object": "Knife", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23793", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.544, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.613, 1.776]). The trajectory involves 5 precise waypoints with total movement distance of 1.098." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23793, "action": "carry", "object": "Knife", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23797", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.600, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.341, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.752." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23797, "action": "carry", "object": "Knife", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23798", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.639, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.296, 1.576]). The trajectory involves 5 precise waypoints with total movement distance of 0.695." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23798, "action": "carry", "object": "Knife", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23802", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.584, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.379." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23802, "action": "putdown", "object": "Knife", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23835", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.285, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.795." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23835, "action": "carry", "object": "Knife", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23839", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.550, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.228, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23839, "action": "carry", "object": "Knife", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23840", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.574, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.232, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23840, "action": "carry", "object": "Knife", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23846", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.760, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23846, "action": "pickup", "object": "Knife", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23887", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N26_S200_s01_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N26_S200_s01_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N26_S200_s01_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.210, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.933, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23887, "action": "carry", "object": "Knife", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23899", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.736, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23899, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23902", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.484, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23902, "action": "carry", "object": "Knife", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23913", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.698, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.796]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23913, "action": "putdown", "object": "Knife", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23914", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.692, 1.129]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23914, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23925", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.816, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23925, "action": "carry", "object": "Knife", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_23927", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.595, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 23927, "action": "pickup", "object": "Knife", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_24013", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.569, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24013, "action": "putdown", "object": "Kettle", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24015", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.495, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24015, "action": "carry", "object": "Kettle", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24049", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N28_S176_s02_T1/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N28_S176_s02_T1/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N28_S176_s02_T1/align_rgb/00253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.593, 1.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.356]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24049, "action": "putdown", "object": "Kettle", "frame_index": 253, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24056", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.371, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24056, "action": "carry", "object": "Kettle", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24059", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.781, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.776, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.112." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24059, "action": "putdown", "object": "Kettle", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24062", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.711, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.391, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24062, "action": "carry", "object": "Kettle", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24073", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.486, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.356." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24073, "action": "carry", "object": "Kettle", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24110", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.589, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.067, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24110, "action": "putdown", "object": "Kettle", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24113", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.768, 1.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.452, 0.967]). The trajectory involves 5 precise waypoints with total movement distance of 2.298." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24113, "action": "carry", "object": "Kettle", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24115", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.753, 1.055]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.241, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 2.079." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24115, "action": "carry", "object": "Kettle", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24123", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N24_S176_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S176_s03_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N24_S176_s03_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.481, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24123, "action": "putdown", "object": "Kettle", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24134", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.552, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.244, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24134, "action": "carry", "object": "Kettle", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24138", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.399, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.691, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24138, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24141", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.595, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.318, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24141, "action": "carry", "object": "Kettle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24144", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.412, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24144, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24161", "task": "dump the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: dump the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.754, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.303." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24161, "action": "dump", "object": "Kettle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24169", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.811, 0.998]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.644]). The trajectory involves 5 precise waypoints with total movement distance of 1.586." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24169, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24170", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.804, 0.996]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.795]). The trajectory involves 5 precise waypoints with total movement distance of 1.569." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24170, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24171", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.801, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.853]). The trajectory involves 5 precise waypoints with total movement distance of 1.517." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24171, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24176", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.839, 0.954]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 0.919]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24176, "action": "carry", "object": "Kettle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24177", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.524, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24177, "action": "putdown", "object": "Kettle", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24183", "task": "dump the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: dump the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.741, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.026]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24183, "action": "dump", "object": "Kettle", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24184", "task": "dump the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: dump the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.610, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24184, "action": "dump", "object": "Kettle", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24198", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.836, 1.008]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 1.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24198, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24201", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.825, 0.913]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.228, 1.168]). The trajectory involves 5 precise waypoints with total movement distance of 1.673." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24201, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24202", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.800, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.228, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 1.642." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24202, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24210", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N19_S173_s05_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S173_s05_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N19_S173_s05_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.480, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24210, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24239", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24239, "action": "carry", "object": "Kettle", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24244", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.629, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24244, "action": "putdown", "object": "Kettle", "frame_index": 256, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24266", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N16_S206_s04_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S206_s04_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S206_s04_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.864, 1.013]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 0.966]). The trajectory involves 5 precise waypoints with total movement distance of 1.740." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24266, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24272", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.799, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 0.956]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24272, "action": "carry", "object": "Kettle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24273", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.502, 1.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.518, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24273, "action": "putdown", "object": "Kettle", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24276", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.661, 1.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.968, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24276, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24278", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.884, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24278, "action": "putdown", "object": "Kettle", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24279", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.871, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.867, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24279, "action": "putdown", "object": "Kettle", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24295", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N15_S206_s04_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N15_S206_s04_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N15_S206_s04_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.942, 0.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.273, 1.050]). The trajectory involves 5 precise waypoints with total movement distance of 1.789." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24295, "action": "carry", "object": "Kettle", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24321", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.859, 1.009]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 1.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24321, "action": "carry", "object": "Kettle", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24323", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 0.956]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 1.029]). The trajectory involves 5 precise waypoints with total movement distance of 1.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24323, "action": "carry", "object": "Kettle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24324", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.792, 0.895]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 1.021]). The trajectory involves 5 precise waypoints with total movement distance of 1.518." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24324, "action": "carry", "object": "Kettle", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24325", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.796, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 1.131]). The trajectory involves 5 precise waypoints with total movement distance of 1.434." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24325, "action": "carry", "object": "Kettle", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24328", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.315, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24328, "action": "carry", "object": "Kettle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24334", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.453, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.793, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.374." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24334, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24359", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N13_S206_s04_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S206_s04_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S206_s04_T2/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.786, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.266, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 1.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24359, "action": "carry", "object": "Kettle", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24364", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.631, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24364, "action": "carry", "object": "Kettle", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24367", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.564, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24367, "action": "carry", "object": "Kettle", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24369", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.553, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.263, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24369, "action": "carry", "object": "Kettle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24370", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.432, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24370, "action": "putdown", "object": "Kettle", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24376", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.504, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.435]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24376, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24393", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.578, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.904, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24393, "action": "putdown", "object": "Kettle", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24400", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.835, 1.071]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.019, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 1.926." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24400, "action": "carry", "object": "Kettle", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24411", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N12_S173_s03_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N12_S173_s03_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N12_S173_s03_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.880, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24411, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24433", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C12_N11_S206_s03_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N11_S206_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C12_N11_S206_s03_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.793, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.106, 1.014]). The trajectory involves 5 precise waypoints with total movement distance of 1.766." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24433, "action": "carry", "object": "Kettle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_24597", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C11_N40_S148_s04_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800003_H3_C11_N40_S148_s04_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800003_H3_C11_N40_S148_s04_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.903, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.711]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24597, "action": "putdown", "object": "Pliers", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_24696", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C11_N07_S151_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800003_H3_C11_N07_S151_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800003_H3_C11_N07_S151_s03_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.351, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24696, "action": "putdown", "object": "Pliers", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_24718", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00039.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.347]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24718, "action": "push", "object": "Toy Car", "frame_index": 39, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24739", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.475, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.113." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24739, "action": "pull", "object": "Toy Car", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24759", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.401, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24759, "action": "pull", "object": "Toy Car", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24817", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.521, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24817, "action": "carry", "object": "Toy Car", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24823", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.587, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.066]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24823, "action": "carry", "object": "Toy Car", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24836", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.477, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24836, "action": "push", "object": "Toy Car", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24840", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.432, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24840, "action": "push", "object": "Toy Car", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24841", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.436, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24841, "action": "push", "object": "Toy Car", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24850", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.887, 1.139]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24850, "action": "push", "object": "Toy Car", "frame_index": 149, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24854", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.881, 1.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24854, "action": "push", "object": "Toy Car", "frame_index": 155, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24855", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.886, 1.157]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24855, "action": "push", "object": "Toy Car", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24858", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.836, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24858, "action": "push", "object": "Toy Car", "frame_index": 163, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24881", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.739, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.049." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24881, "action": "pull", "object": "Toy Car", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24886", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.746, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.064." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24886, "action": "pull", "object": "Toy Car", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24910", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.622, 1.009]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.724, 0.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24910, "action": "carry", "object": "Toy Car", "frame_index": 140, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24921", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.681, 1.028]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.749, 1.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24921, "action": "carry", "object": "Toy Car", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24970", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.045." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24970, "action": "push", "object": "Toy Car", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_24995", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 24995, "action": "push", "object": "Toy Car", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25048", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.909, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 1.147]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25048, "action": "pickup", "object": "Toy Car", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25055", "task": "push the car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push the car?" }, { "from": "gpt", "value": "To complete this object manipulation: push the car, execute the following phases: 1) Initial approach phase (start at [1.868, 1.077]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.777, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.092." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25055, "action": "carry", "object": "Toy Car", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25060", "task": "push the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: push the toy car, execute the following phases: 1) Initial approach phase (start at [1.853, 1.067]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.750, 1.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25060, "action": "carry", "object": "Toy Car", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25070", "task": "pull the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.811, 1.054]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.900, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25070, "action": "carry", "object": "Toy Car", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25072", "task": "pull the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.844, 1.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.091." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25072, "action": "carry", "object": "Toy Car", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25076", "task": "pull the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.838, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.940, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25076, "action": "carry", "object": "Toy Car", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25083", "task": "pull the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.859, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25083, "action": "carry", "object": "Toy Car", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25090", "task": "pull the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.879, 1.157]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.094." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25090, "action": "carry", "object": "Toy Car", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25173", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.435, 1.014]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.433, 1.109]). The trajectory involves 5 precise waypoints with total movement distance of 0.096." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25173, "action": "pull", "object": "Toy Car", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25195", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.516, 0.974]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 0.959]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25195, "action": "push", "object": "Toy Car", "frame_index": 153, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25204", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.373, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.454, 0.946]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25204, "action": "pull", "object": "Toy Car", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25285", "task": "pull the toy car back", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car back?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car back, execute the following phases: 1) Initial approach phase (start at [1.695, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.793, 1.340]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25285, "action": "carry", "object": "Toy Car", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25287", "task": "pull the toy car back", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car back?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car back, execute the following phases: 1) Initial approach phase (start at [1.700, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25287, "action": "carry", "object": "Toy Car", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25346", "task": "pull the toy car back", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N35_S83_s03_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N35_S83_s03_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N35_S83_s03_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull the toy car back?" }, { "from": "gpt", "value": "To complete this object manipulation: pull the toy car back, execute the following phases: 1) Initial approach phase (start at [1.597, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25346, "action": "carry", "object": "Toy Car", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25419", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00030.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.521, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25419, "action": "push", "object": "Toy Car", "frame_index": 30, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25457", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.497, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25457, "action": "push", "object": "Toy Car", "frame_index": 168, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25475", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.582, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.048." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25475, "action": "pull", "object": "Toy Car", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25484", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.628, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.051." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25484, "action": "pull", "object": "Toy Car", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25681", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.400, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.063." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25681, "action": "pull", "object": "Toy Car", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25692", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.404, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.068." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25692, "action": "pull", "object": "Toy Car", "frame_index": 251, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25859", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.519, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.073." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25859, "action": "pull", "object": "Toy Car", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25882", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.756, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.075." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25882, "action": "push", "object": "Toy Car", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_25893", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.689, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.066." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 25893, "action": "pull", "object": "Toy Car", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26052", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N21_S87_s02_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N21_S87_s02_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N21_S87_s02_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.410, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26052, "action": "carry", "object": "Toy Car", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26135", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.374, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.279, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26135, "action": "push", "object": "Toy Car", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26146", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.357, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.066." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26146, "action": "pull", "object": "Toy Car", "frame_index": 255, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26228", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.374, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.078." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26228, "action": "pull", "object": "Toy Car", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26230", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.380, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26230, "action": "pull", "object": "Toy Car", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26232", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26232, "action": "pull", "object": "Toy Car", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26234", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.368, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26234, "action": "pull", "object": "Toy Car", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26236", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.391, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26236, "action": "pull", "object": "Toy Car", "frame_index": 250, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26302", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.288, 1.110]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26302, "action": "push", "object": "Toy Car", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26309", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.307, 1.149]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.313, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.073." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26309, "action": "push", "object": "Toy Car", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26336", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.293, 1.108]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.284, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26336, "action": "pull", "object": "Toy Car", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26357", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.296, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.295]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26357, "action": "pull", "object": "Toy Car", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26359", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.354, 1.172]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.211, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26359, "action": "push", "object": "Toy Car", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26378", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00259.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00260.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00261.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.206, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.320, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26378, "action": "pull", "object": "Toy Car", "frame_index": 261, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26380", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00263.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00264.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.218, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.333, 1.082]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26380, "action": "pull", "object": "Toy Car", "frame_index": 265, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26382", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00267.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00268.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00269.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.223, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.069]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26382, "action": "pull", "object": "Toy Car", "frame_index": 269, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26421", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00030.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.419, 1.006]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 0.886]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26421, "action": "push", "object": "Toy Car", "frame_index": 30, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26425", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 0.977]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.405, 0.805]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26425, "action": "push", "object": "Toy Car", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26464", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.421, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 0.933]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26464, "action": "push", "object": "Toy Car", "frame_index": 155, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26466", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.415, 0.926]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.262, 0.968]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26466, "action": "push", "object": "Toy Car", "frame_index": 159, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26467", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00161.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.404, 0.901]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 0.945]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26467, "action": "push", "object": "Toy Car", "frame_index": 161, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26468", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.399, 0.910]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.246, 0.948]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26468, "action": "push", "object": "Toy Car", "frame_index": 163, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26469", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.379, 0.914]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 0.947]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26469, "action": "push", "object": "Toy Car", "frame_index": 165, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26471", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.352, 0.922]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 0.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26471, "action": "push", "object": "Toy Car", "frame_index": 169, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26472", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.339, 0.954]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.232, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26472, "action": "push", "object": "Toy Car", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26485", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.262, 0.923]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 0.887]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26485, "action": "pull", "object": "Toy Car", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_26503", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.611, 1.026]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 26503, "action": "putdown", "object": "Toy Car", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_27352", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C8_N15_S80_s03_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N15_S80_s03_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N15_S80_s03_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.506, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.446, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 27352, "action": "putdown", "object": "Bucket", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_27513", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C8_N13_S80_s02_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N13_S80_s02_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N13_S80_s02_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.636, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.652, 1.224]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 27513, "action": "pickup", "object": "Bucket", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_27574", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.488, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.175]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 27574, "action": "putdown", "object": "Bucket", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_27621", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.499, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 27621, "action": "putdown", "object": "Bucket", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_27649", "task": "put down the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.616, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 27649, "action": "putdown", "object": "Bucket", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_27697", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C8_N11_S80_s01_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N11_S80_s01_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C8_N11_S80_s01_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.587, 1.119]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 0.809]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 27697, "action": "pickup", "object": "Bucket", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_28180", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.527, 1.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28180, "action": "pickup", "object": "Bowl", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28185", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.491, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28185, "action": "pickup", "object": "Bowl", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28192", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.443, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28192, "action": "putdown", "object": "Bowl", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28194", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.465, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.806]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28194, "action": "putdown", "object": "Bowl", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28204", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.628, 1.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.755]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28204, "action": "pickup", "object": "Bowl", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28276", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.649, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28276, "action": "putdown", "object": "Bowl", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28279", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.651, 1.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.646, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28279, "action": "putdown", "object": "Bowl", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28292", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.647, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28292, "action": "pickup", "object": "Bowl", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28303", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.662, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.646, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.121." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28303, "action": "putdown", "object": "Bowl", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28326", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.487, 1.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.812]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28326, "action": "putdown", "object": "Bowl", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28338", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.521, 1.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.516, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28338, "action": "pickup", "object": "Bowl", "frame_index": 160, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28340", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.516, 1.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28340, "action": "pickup", "object": "Bowl", "frame_index": 164, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28374", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.453, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28374, "action": "putdown", "object": "Bowl", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28375", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.479, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.482, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28375, "action": "putdown", "object": "Bowl", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28391", "task": "carry Bowl to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.513, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.069, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.700." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28391, "action": "carry", "object": "Bowl", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28392", "task": "carry Bowl to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.508, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.102, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28392, "action": "carry", "object": "Bowl", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28396", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.598, 1.126]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28396, "action": "putdown", "object": "Bowl", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28397", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.585, 1.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.649]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28397, "action": "putdown", "object": "Bowl", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28398", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.596, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.610]). The trajectory involves 5 precise waypoints with total movement distance of 0.470." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28398, "action": "putdown", "object": "Bowl", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28399", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.596, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.607, 1.532]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28399, "action": "putdown", "object": "Bowl", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28402", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.596, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28402, "action": "putdown", "object": "Bowl", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28490", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.587, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28490, "action": "putdown", "object": "Bowl", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28493", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.534, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28493, "action": "putdown", "object": "Bowl", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28494", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.544, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.484]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28494, "action": "putdown", "object": "Bowl", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28573", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T3/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.579, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 1.698]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28573, "action": "putdown", "object": "Bowl", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28610", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.578, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28610, "action": "putdown", "object": "Bowl", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28636", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00043.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.647, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28636, "action": "pickup", "object": "Bowl", "frame_index": 43, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28637", "task": "carry Bowl to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.491, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.288, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28637, "action": "carry", "object": "Bowl", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28639", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.563, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.679]). The trajectory involves 5 precise waypoints with total movement distance of 0.473." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28639, "action": "putdown", "object": "Bowl", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28640", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.599, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 0.419." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28640, "action": "putdown", "object": "Bowl", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28875", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.578, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28875, "action": "putdown", "object": "Bowl", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_28878", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.552, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 28878, "action": "putdown", "object": "Bowl", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29162", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N18_S79_s01_T1/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N18_S79_s01_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N18_S79_s01_T1/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.541, 1.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.517, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29162, "action": "putdown", "object": "Bowl", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29183", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N17_S55_s04_T3/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N17_S55_s04_T3/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N17_S55_s04_T3/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.425, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.441]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29183, "action": "carry", "object": "Bowl", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29228", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.678, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.662, 1.086]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29228, "action": "pickup", "object": "Bowl", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29234", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.696, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 0.971]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29234, "action": "pickup", "object": "Bowl", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29238", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.552, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29238, "action": "putdown", "object": "Bowl", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29241", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.586, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29241, "action": "putdown", "object": "Bowl", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29242", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.599, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29242, "action": "putdown", "object": "Bowl", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29245", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.605, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.499]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29245, "action": "putdown", "object": "Bowl", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29255", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.776, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.769, 1.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.204." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29255, "action": "pickup", "object": "Bowl", "frame_index": 156, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29259", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.664, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29259, "action": "pickup", "object": "Bowl", "frame_index": 164, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29260", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.662, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.133]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29260, "action": "pickup", "object": "Bowl", "frame_index": 166, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29271", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.699, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.692, 1.484]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29271, "action": "putdown", "object": "Bowl", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29393", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.395, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29393, "action": "putdown", "object": "Bowl", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29414", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.533, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29414, "action": "putdown", "object": "Bowl", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29416", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.554, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29416, "action": "putdown", "object": "Bowl", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29417", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.563, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.746]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29417, "action": "putdown", "object": "Bowl", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29421", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.580, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29421, "action": "putdown", "object": "Bowl", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29429", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.510, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29429, "action": "pickup", "object": "Bowl", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29431", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.468, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29431, "action": "pickup", "object": "Bowl", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29432", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.467, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29432, "action": "pickup", "object": "Bowl", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29445", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.503, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29445, "action": "putdown", "object": "Bowl", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29451", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.506, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29451, "action": "putdown", "object": "Bowl", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29453", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.518, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29453, "action": "putdown", "object": "Bowl", "frame_index": 113, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29463", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.538, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.530, 1.301]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29463, "action": "pickup", "object": "Bowl", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29471", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.562, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29471, "action": "putdown", "object": "Bowl", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29478", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.611, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.340." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29478, "action": "putdown", "object": "Bowl", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29479", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.565, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.544, 1.714]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29479, "action": "putdown", "object": "Bowl", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29484", "task": "carry Bowl to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.372, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.620." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29484, "action": "carry", "object": "Bowl", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29493", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.430, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29493, "action": "putdown", "object": "Bowl", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29494", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.435, 1.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29494, "action": "putdown", "object": "Bowl", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29500", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.678, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.268]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29500, "action": "pickup", "object": "Bowl", "frame_index": 141, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29510", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.617, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29510, "action": "putdown", "object": "Bowl", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29543", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.580, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29543, "action": "putdown", "object": "Bowl", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29550", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.605, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29550, "action": "putdown", "object": "Bowl", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29551", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.618, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29551, "action": "putdown", "object": "Bowl", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29552", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.630, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29552, "action": "putdown", "object": "Bowl", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29553", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.612, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.592, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29553, "action": "putdown", "object": "Bowl", "frame_index": 113, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29554", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.611, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29554, "action": "putdown", "object": "Bowl", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29570", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.691, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.685, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29570, "action": "putdown", "object": "Bowl", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29571", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.692, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.682, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29571, "action": "putdown", "object": "Bowl", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29585", "task": "carry Bowl to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00029.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.689, 1.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29585, "action": "carry", "object": "Bowl", "frame_index": 29, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29593", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.487, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29593, "action": "putdown", "object": "Bowl", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29615", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.703, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29615, "action": "putdown", "object": "Bowl", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29616", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.678, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.653]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29616, "action": "putdown", "object": "Bowl", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29641", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.468, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29641, "action": "putdown", "object": "Bowl", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29645", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.466, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.204." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29645, "action": "putdown", "object": "Bowl", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29661", "task": "pick up the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.525, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29661, "action": "pickup", "object": "Bowl", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29665", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.472, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.487, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29665, "action": "putdown", "object": "Bowl", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29666", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.474, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.509]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29666, "action": "putdown", "object": "Bowl", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29669", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.500, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 1.580]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29669, "action": "putdown", "object": "Bowl", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29672", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.462, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.694]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29672, "action": "putdown", "object": "Bowl", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29679", "task": "carry Bowl to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.642, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29679, "action": "carry", "object": "Bowl", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29680", "task": "carry Bowl to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.630, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.535." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29680, "action": "carry", "object": "Bowl", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29683", "task": "carry Bowl to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bowl to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.556, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.171, 1.087]). The trajectory involves 5 precise waypoints with total movement distance of 0.470." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29683, "action": "carry", "object": "Bowl", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29712", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.677, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29712, "action": "putdown", "object": "Bowl", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29713", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.684, 1.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.652, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29713, "action": "putdown", "object": "Bowl", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29726", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.506, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29726, "action": "putdown", "object": "Bowl", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29754", "task": "put down the bowl", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bowl?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.580, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.687]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29754, "action": "putdown", "object": "Bowl", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bowl" ] } }, { "id": "hoi4d_29778", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.492, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.986]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29778, "action": "open", "object": "Safe", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29779", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.481, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.966, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.735." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29779, "action": "open", "object": "Safe", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29791", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.621, 1.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.373]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29791, "action": "close", "object": "Safe", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29802", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.498, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.099, 1.095]). The trajectory involves 5 precise waypoints with total movement distance of 0.635." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29802, "action": "close", "object": "Safe", "frame_index": 114, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29805", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.384, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.130, 1.033]). The trajectory involves 5 precise waypoints with total movement distance of 0.545." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29805, "action": "close", "object": "Safe", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29808", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.483, 1.168]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29808, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29809", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.523, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.852, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.531." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29809, "action": "open", "object": "Safe", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29813", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.450, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29813, "action": "open", "object": "Safe", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29814", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.460, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.332." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29814, "action": "open", "object": "Safe", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29821", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.593, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.116]). The trajectory involves 5 precise waypoints with total movement distance of 0.522." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29821, "action": "close", "object": "Safe", "frame_index": 247, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29823", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.572, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29823, "action": "close", "object": "Safe", "frame_index": 250, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29828", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.744, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.093]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29828, "action": "close", "object": "Safe", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29837", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.401, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29837, "action": "open", "object": "Safe", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29838", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.355, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.693]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29838, "action": "open", "object": "Safe", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29842", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.409, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.744, 1.582]). The trajectory involves 5 precise waypoints with total movement distance of 0.395." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29842, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29847", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.541, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29847, "action": "close", "object": "Safe", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29848", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.496, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.239, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29848, "action": "close", "object": "Safe", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29849", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.394, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.226, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29849, "action": "close", "object": "Safe", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29853", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.470, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29853, "action": "close", "object": "Safe", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29866", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.408, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.098, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29866, "action": "close", "object": "Safe", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29869", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.396, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29869, "action": "close", "object": "Safe", "frame_index": 142, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29871", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.398, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.182, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29871, "action": "close", "object": "Safe", "frame_index": 146, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29875", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.530, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.772]). The trajectory involves 5 precise waypoints with total movement distance of 0.593." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29875, "action": "open", "object": "Safe", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29877", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.459, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.922, 1.786]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29877, "action": "open", "object": "Safe", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29878", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.815, 1.755]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29878, "action": "open", "object": "Safe", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29885", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00257.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00258.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.518, 1.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.258, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29885, "action": "close", "object": "Safe", "frame_index": 259, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29936", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29936, "action": "open", "object": "Safe", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29937", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.435, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.685]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29937, "action": "open", "object": "Safe", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29943", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.595, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.213, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29943, "action": "close", "object": "Safe", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29949", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.469, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.705, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29949, "action": "open", "object": "Safe", "frame_index": 36, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29950", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.455, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.697, 1.578]). The trajectory involves 5 precise waypoints with total movement distance of 0.340." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29950, "action": "open", "object": "Safe", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29951", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.419, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.646, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.328." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29951, "action": "open", "object": "Safe", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29952", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.481, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.563]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29952, "action": "open", "object": "Safe", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29966", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00149.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.530, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.761]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29966, "action": "open", "object": "Safe", "frame_index": 151, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_29996", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.214, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 29996, "action": "open", "object": "Safe", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30002", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.555, 1.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.079, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.674." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30002, "action": "close", "object": "Safe", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30004", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.364, 1.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.062, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30004, "action": "close", "object": "Safe", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30013", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.379, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.778, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30013, "action": "open", "object": "Safe", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30030", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.510, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.512]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30030, "action": "open", "object": "Safe", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30031", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.538, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.738, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30031, "action": "open", "object": "Safe", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30047", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30047, "action": "close", "object": "Safe", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30053", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.522, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.636, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30053, "action": "open", "object": "Safe", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30054", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.668, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30054, "action": "open", "object": "Safe", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30055", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.528, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30055, "action": "open", "object": "Safe", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30060", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.602, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30060, "action": "close", "object": "Safe", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30066", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.535, 1.181]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.016, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30066, "action": "open", "object": "Safe", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30069", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.211]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30069, "action": "open", "object": "Safe", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30073", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.735, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.154, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30073, "action": "close", "object": "Safe", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30079", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.050, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30079, "action": "open", "object": "Safe", "frame_index": 169, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30080", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.530, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.901, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30080, "action": "open", "object": "Safe", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30081", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.453, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.978, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30081, "action": "open", "object": "Safe", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30151", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.596, 1.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.088, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.705." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30151, "action": "close", "object": "Safe", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30154", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.162, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30154, "action": "close", "object": "Safe", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30214", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.510, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.677]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30214, "action": "open", "object": "Safe", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30216", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.409, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.709]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30216, "action": "open", "object": "Safe", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30218", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.407, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.812, 1.677]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30218, "action": "open", "object": "Safe", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30219", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.410, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.764, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30219, "action": "open", "object": "Safe", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30222", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.655, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.147, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.685." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30222, "action": "close", "object": "Safe", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30223", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.578, 1.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.184, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30223, "action": "close", "object": "Safe", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30226", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.484, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.284, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.414." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30226, "action": "close", "object": "Safe", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30233", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.488, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30233, "action": "open", "object": "Safe", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30234", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.527, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.522." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30234, "action": "open", "object": "Safe", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30255", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.822, 1.195]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.175." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30255, "action": "close", "object": "Safe", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30259", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.834, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30259, "action": "close", "object": "Safe", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30310", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.735, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30310, "action": "close", "object": "Safe", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30311", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30311, "action": "close", "object": "Safe", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30321", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.601, 0.982]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.901, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30321, "action": "open", "object": "Safe", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30331", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.777, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30331, "action": "close", "object": "Safe", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30334", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.790, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30334, "action": "close", "object": "Safe", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30336", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.762, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30336, "action": "close", "object": "Safe", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30356", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N16_S245_s04_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S245_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N16_S245_s04_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.589, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30356, "action": "close", "object": "Safe", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30497", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.618, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30497, "action": "close", "object": "Safe", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30499", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.644, 1.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30499, "action": "close", "object": "Safe", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30506", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.610, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.565, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30506, "action": "close", "object": "Safe", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30744", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.784, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30744, "action": "close", "object": "Safe", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30746", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.789, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30746, "action": "close", "object": "Safe", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_30787", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.477, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.554]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30787, "action": "open", "object": "Safe", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30838", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.569, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30838, "action": "open", "object": "Safe", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30846", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.780, 1.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30846, "action": "close", "object": "Safe", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30847", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.780, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.336]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30847, "action": "close", "object": "Safe", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30848", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.791, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30848, "action": "close", "object": "Safe", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30850", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.757, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30850, "action": "close", "object": "Safe", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30883", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.492, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.845, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30883, "action": "open", "object": "Safe", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30890", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.720, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30890, "action": "close", "object": "Safe", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30908", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.407, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.709, 1.499]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30908, "action": "open", "object": "Safe", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30923", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.537, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30923, "action": "close", "object": "Safe", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30937", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.604, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30937, "action": "open", "object": "Safe", "frame_index": 146, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_30956", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N07_S245_s02_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S245_s02_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N07_S245_s02_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.424, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.678, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 30956, "action": "open", "object": "Safe", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31177", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.418, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31177, "action": "open", "object": "Safe", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31181", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.375, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31181, "action": "open", "object": "Safe", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31201", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.430, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31201, "action": "open", "object": "Safe", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31202", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.422, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.522]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31202, "action": "open", "object": "Safe", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31203", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.400, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.498]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31203, "action": "open", "object": "Safe", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31224", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.439, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.615]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31224, "action": "open", "object": "Safe", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31231", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.384, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.469]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31231, "action": "open", "object": "Safe", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31251", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.527, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31251, "action": "open", "object": "Safe", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_31292", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.502, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.662, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31292, "action": "open", "object": "Safe", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_31296", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.372, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.757, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31296, "action": "open", "object": "Safe", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_31297", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.395, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.685]). The trajectory involves 5 precise waypoints with total movement distance of 0.404." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31297, "action": "open", "object": "Safe", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Door", "Body of the Safe" ] } }, { "id": "hoi4d_31441", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00158.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.689, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.073, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.622." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31441, "action": "carry", "object": "Bottle", "frame_index": 158, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31442", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00159.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00160.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.658, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.991, 1.174]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31442, "action": "carry", "object": "Bottle", "frame_index": 160, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31443", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.674, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.994, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31443, "action": "carry", "object": "Bottle", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31445", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.698, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.004, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.703." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31445, "action": "carry", "object": "Bottle", "frame_index": 166, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31481", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.461, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31481, "action": "putdown", "object": "Bottle", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31529", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.688, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.699, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.102." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31529, "action": "putdown", "object": "Bottle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31534", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.770, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 1.285." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31534, "action": "carry", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31539", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.687, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31539, "action": "putdown", "object": "Bottle", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31550", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N49_S261_s03_T3/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S261_s03_T3/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N49_S261_s03_T3/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.227, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.995, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.836." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31550, "action": "carry", "object": "Bottle", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31589", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.685, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.311]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31589, "action": "putdown", "object": "Bottle", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31596", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.727, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.090." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31596, "action": "putdown", "object": "Bottle", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31608", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.743, 1.138]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.865, 1.071]). The trajectory involves 5 precise waypoints with total movement distance of 0.898." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31608, "action": "carry", "object": "Bottle", "frame_index": 166, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31609", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.754, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.812, 1.133]). The trajectory involves 5 precise waypoints with total movement distance of 0.944." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31609, "action": "carry", "object": "Bottle", "frame_index": 168, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31614", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.797, 1.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.822, 1.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.986." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31614, "action": "carry", "object": "Bottle", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31616", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.807, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.023, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31616, "action": "carry", "object": "Bottle", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31622", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.746, 1.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31622, "action": "putdown", "object": "Bottle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31648", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.394, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.366]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31648, "action": "pickup", "object": "Bottle", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31865", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.577, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.135." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31865, "action": "putdown", "object": "Bottle", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31879", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.566, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.921, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31879, "action": "carry", "object": "Bottle", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31881", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.597, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.032, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.610." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31881, "action": "carry", "object": "Bottle", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31884", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.056, 1.402]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31884, "action": "carry", "object": "Bottle", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31885", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.536, 1.214]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.048, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31885, "action": "carry", "object": "Bottle", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31886", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.505, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.013, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31886, "action": "carry", "object": "Bottle", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31888", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.499, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.083, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31888, "action": "carry", "object": "Bottle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31914", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S265_s04_T4/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S265_s04_T4/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S265_s04_T4/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.802, 0.977]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.034, 0.918]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31914, "action": "carry", "object": "Bottle", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_31931", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N46_S261_s02_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S261_s02_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N46_S261_s02_T2/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.454, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.607, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 31931, "action": "putdown", "object": "Bottle", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32095", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N44_S269_s01_T6/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S269_s01_T6/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S269_s01_T6/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.354, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.100, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32095, "action": "carry", "object": "Bottle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32109", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.506, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.395." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32109, "action": "pickup", "object": "Bottle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32118", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.693, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.937, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32118, "action": "carry", "object": "Bottle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32119", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.676, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.905, 1.033]). The trajectory involves 5 precise waypoints with total movement distance of 0.886." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32119, "action": "carry", "object": "Bottle", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32157", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.752, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.895." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32157, "action": "carry", "object": "Bottle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32161", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.666, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.857, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32161, "action": "carry", "object": "Bottle", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32170", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.391, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.192, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32170, "action": "carry", "object": "Bottle", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32172", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.406, 1.249]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.284, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.933." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32172, "action": "carry", "object": "Bottle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32173", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.421, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.303, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.937." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32173, "action": "carry", "object": "Bottle", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32175", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.353, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.130, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32175, "action": "carry", "object": "Bottle", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32186", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.911, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.096, 0.984]). The trajectory involves 5 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32186, "action": "carry", "object": "Bottle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32188", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.878, 1.235]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.131, 1.047]). The trajectory involves 5 precise waypoints with total movement distance of 0.797." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32188, "action": "carry", "object": "Bottle", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32228", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.429, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.348, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.956." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32228, "action": "carry", "object": "Bottle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32230", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.419, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.263, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.871." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32230, "action": "carry", "object": "Bottle", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32231", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.452, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.218, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.791." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32231, "action": "carry", "object": "Bottle", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32232", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.449, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.190, 1.347]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32232, "action": "carry", "object": "Bottle", "frame_index": 235, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32247", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N42_S265_s03_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S265_s03_T4/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S265_s03_T4/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.897, 1.222]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.128, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.864." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32247, "action": "carry", "object": "Bottle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32256", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N42_S261_s01_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S261_s01_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N42_S261_s01_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.681, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.848." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32256, "action": "carry", "object": "Bottle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32284", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.499, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.416, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.955." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32284, "action": "carry", "object": "Bottle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32286", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.505, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.310, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.850." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32286, "action": "carry", "object": "Bottle", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32287", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.475, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.219, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.780." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32287, "action": "carry", "object": "Bottle", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32309", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.866, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.904, 1.024]). The trajectory involves 5 precise waypoints with total movement distance of 1.065." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32309, "action": "carry", "object": "Bottle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32311", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.874, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.964, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32311, "action": "carry", "object": "Bottle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32339", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N41_S261_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S261_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N41_S261_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.614, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32339, "action": "putdown", "object": "Bottle", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32342", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.527, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 1.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32342, "action": "carry", "object": "Bottle", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32344", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.525, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 1.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32344, "action": "carry", "object": "Bottle", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32352", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.824, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.869, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.983." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32352, "action": "carry", "object": "Bottle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32353", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.965, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.901." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32353, "action": "carry", "object": "Bottle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32368", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.697, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.829, 0.954]). The trajectory involves 5 precise waypoints with total movement distance of 0.947." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32368, "action": "carry", "object": "Bottle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32369", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.723, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.904, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.891." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32369, "action": "carry", "object": "Bottle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32399", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.353, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.181, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.883." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32399, "action": "carry", "object": "Bottle", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32404", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.369, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.295, 1.602]). The trajectory involves 5 precise waypoints with total movement distance of 0.986." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32404, "action": "carry", "object": "Bottle", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32426", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.676, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.782, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 1.027." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32426, "action": "carry", "object": "Bottle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32431", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.947, 0.951]). The trajectory involves 5 precise waypoints with total movement distance of 0.831." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32431, "action": "carry", "object": "Bottle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32439", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N39_S258_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S258_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N39_S258_s05_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.620, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.942, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32439, "action": "carry", "object": "Bottle", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32466", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.408, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.246, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.879." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32466, "action": "carry", "object": "Bottle", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32467", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.407, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.271, 1.612]). The trajectory involves 5 precise waypoints with total movement distance of 0.920." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32467, "action": "carry", "object": "Bottle", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32468", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.425, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.272, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.910." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32468, "action": "carry", "object": "Bottle", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32469", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.404, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.235, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.893." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32469, "action": "carry", "object": "Bottle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32470", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.422, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.224, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 0.848." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32470, "action": "carry", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32479", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.506, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.982." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32479, "action": "carry", "object": "Bottle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32493", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.791, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.891, 0.892]). The trajectory involves 5 precise waypoints with total movement distance of 1.027." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32493, "action": "carry", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32494", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.859, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.069, 0.881]). The trajectory involves 5 precise waypoints with total movement distance of 0.872." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32494, "action": "carry", "object": "Bottle", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32498", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.793, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.216, 1.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32498, "action": "carry", "object": "Bottle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32617", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.691, 1.184]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.330, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32617, "action": "carry", "object": "Bottle", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32619", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.701, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.299, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32619, "action": "carry", "object": "Bottle", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32621", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.769, 1.139]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.358, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.702." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32621, "action": "carry", "object": "Bottle", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32625", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.791, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32625, "action": "putdown", "object": "Bottle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32650", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S268_s04_T6/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S268_s04_T6/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S268_s04_T6/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.764, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.914, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.892." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32650, "action": "carry", "object": "Bottle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32665", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S265_s02_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S265_s02_T4/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S265_s02_T4/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.537, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 1.195]). The trajectory involves 5 precise waypoints with total movement distance of 1.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32665, "action": "carry", "object": "Bottle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32675", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N36_S258_s04_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S258_s04_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N36_S258_s04_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.484, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 1.682]). The trajectory involves 5 precise waypoints with total movement distance of 1.007." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32675, "action": "carry", "object": "Bottle", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32714", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.683, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.328, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32714, "action": "carry", "object": "Bottle", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32715", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.718, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.360, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.735." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32715, "action": "carry", "object": "Bottle", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32717", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00142.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.686, 1.084]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.280, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32717, "action": "carry", "object": "Bottle", "frame_index": 142, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32719", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00146.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.730, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.287, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.737." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32719, "action": "carry", "object": "Bottle", "frame_index": 146, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32723", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00152.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00153.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.708, 1.072]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.143, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32723, "action": "carry", "object": "Bottle", "frame_index": 153, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32757", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T1/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T1/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T1/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.705, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.743, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32757, "action": "pickup", "object": "Bottle", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32827", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S268_s04_T6/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S268_s04_T6/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S268_s04_T6/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.732, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.444, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32827, "action": "putdown", "object": "Bottle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32834", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.577, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.458." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32834, "action": "pickup", "object": "Bottle", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32838", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.761, 1.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.798, 0.967]). The trajectory involves 5 precise waypoints with total movement distance of 1.092." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32838, "action": "carry", "object": "Bottle", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32840", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.838, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.865, 0.949]). The trajectory involves 5 precise waypoints with total movement distance of 1.041." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32840, "action": "carry", "object": "Bottle", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32842", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.866, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.986, 0.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.924." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32842, "action": "carry", "object": "Bottle", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_32843", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.869, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.061, 1.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.840." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 32843, "action": "carry", "object": "Bottle", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33057", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.775, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.750, 0.989]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33057, "action": "putdown", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33059", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.711, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.694, 1.043]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33059, "action": "putdown", "object": "Bottle", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33068", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.806, 0.947]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.418, 0.934]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33068, "action": "carry", "object": "Bottle", "frame_index": 163, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33070", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.782, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 0.970]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33070, "action": "carry", "object": "Bottle", "frame_index": 167, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33072", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.814, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 0.949]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33072, "action": "carry", "object": "Bottle", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33073", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.811, 0.925]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.410, 0.946]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33073, "action": "carry", "object": "Bottle", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33074", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.743, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 0.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33074, "action": "carry", "object": "Bottle", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33077", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.770, 0.911]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33077, "action": "carry", "object": "Bottle", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33079", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.758, 0.969]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.114]). The trajectory involves 5 precise waypoints with total movement distance of 0.464." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33079, "action": "carry", "object": "Bottle", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33100", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S268_s04_T6/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S268_s04_T6/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S268_s04_T6/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.509, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.456, 1.753]). The trajectory involves 5 precise waypoints with total movement distance of 1.043." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33100, "action": "carry", "object": "Bottle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33134", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.569, 1.664]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.908, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.779." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33134, "action": "carry", "object": "Bottle", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33135", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.555, 1.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.811, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.842." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33135, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33136", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.542, 1.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 0.893." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33136, "action": "carry", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33191", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.881, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33191, "action": "carry", "object": "Bottle", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33192", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.912, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.374, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33192, "action": "carry", "object": "Bottle", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33196", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.907, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33196, "action": "carry", "object": "Bottle", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33197", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.886, 1.098]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33197, "action": "carry", "object": "Bottle", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33201", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.677, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33201, "action": "putdown", "object": "Bottle", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33204", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.682, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33204, "action": "putdown", "object": "Bottle", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33222", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.513, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33222, "action": "pickup", "object": "Bottle", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33225", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.556, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33225, "action": "pickup", "object": "Bottle", "frame_index": 181, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33227", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.510, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 1.141." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33227, "action": "carry", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33228", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.489, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 1.112." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33228, "action": "carry", "object": "Bottle", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33229", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.520, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 1.200]). The trajectory involves 5 precise waypoints with total movement distance of 1.046." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33229, "action": "carry", "object": "Bottle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33258", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N31_S268_s03_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S268_s03_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S268_s03_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.578, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 1.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33258, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33273", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.462, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33273, "action": "carry", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33281", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.661, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.022, 1.262]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33281, "action": "carry", "object": "Bottle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33282", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.060, 1.269]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33282, "action": "carry", "object": "Bottle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33284", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.673, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.199, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33284, "action": "carry", "object": "Bottle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33289", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N31_S258_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S258_s03_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N31_S258_s03_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.679, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.909, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.836." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33289, "action": "carry", "object": "Bottle", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33343", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.686, 0.874]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 0.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33343, "action": "putdown", "object": "Bottle", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33361", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.753, 0.923]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 0.894]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33361, "action": "carry", "object": "Bottle", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33362", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.730, 0.936]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 0.928]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33362, "action": "carry", "object": "Bottle", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33367", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.617, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.333, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33367, "action": "carry", "object": "Bottle", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33370", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.613, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.343, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33370, "action": "carry", "object": "Bottle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33372", "task": "put the bottle to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the bottle to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the bottle to the drawer, execute the following phases: 1) Initial approach phase (start at [1.633, 0.953]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33372, "action": "carry", "object": "Bottle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33385", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S268_s03_T6/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S268_s03_T6/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S268_s03_T6/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.581, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.661, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 1.134." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33385, "action": "carry", "object": "Bottle", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33409", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.712, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.771, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 1.002." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33409, "action": "carry", "object": "Bottle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33413", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.684, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.842, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.851." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33413, "action": "carry", "object": "Bottle", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33414", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.679, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.917, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.776." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33414, "action": "carry", "object": "Bottle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33441", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N30_S258_s03_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S258_s03_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N30_S258_s03_T2/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.596, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.852]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33441, "action": "putdown", "object": "Bottle", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33458", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.542, 0.981]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.111]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33458, "action": "putdown", "object": "Bottle", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33459", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.554, 1.002]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33459, "action": "putdown", "object": "Bottle", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33487", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.554, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33487, "action": "putdown", "object": "Bottle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33507", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.514, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.150, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33507, "action": "carry", "object": "Bottle", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33508", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.497, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.176, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33508, "action": "carry", "object": "Bottle", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33511", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.515, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.318, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.828." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33511, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33512", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.363, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 0.870." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33512, "action": "carry", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33520", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.761, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.110, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33520, "action": "carry", "object": "Bottle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33521", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.767, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.137, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33521, "action": "carry", "object": "Bottle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33538", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.704, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 0.882]). The trajectory involves 5 precise waypoints with total movement distance of 1.048." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33538, "action": "carry", "object": "Bottle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33539", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.711, 1.095]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.923]). The trajectory involves 5 precise waypoints with total movement distance of 1.031." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33539, "action": "carry", "object": "Bottle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33600", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.903, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.406, 0.882]). The trajectory involves 5 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33600, "action": "carry", "object": "Bottle", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33601", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.876, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 0.904]). The trajectory involves 5 precise waypoints with total movement distance of 0.518." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33601, "action": "carry", "object": "Bottle", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33607", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.684, 1.051]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33607, "action": "putdown", "object": "Bottle", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33627", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.534, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33627, "action": "pickup", "object": "Bottle", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33683", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.603, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.076." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33683, "action": "putdown", "object": "Bottle", "frame_index": 256, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33688", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.483, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.545, 1.843]). The trajectory involves 5 precise waypoints with total movement distance of 1.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33688, "action": "carry", "object": "Bottle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33690", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.471, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.363, 1.767]). The trajectory involves 5 precise waypoints with total movement distance of 0.963." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33690, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33704", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S263_s05_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S263_s05_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S263_s05_T4/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.396, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.093]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33704, "action": "carry", "object": "Bottle", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33716", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N28_S258_s02_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S258_s02_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N28_S258_s02_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.655, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.859, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33716, "action": "carry", "object": "Bottle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33766", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00163.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.381, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.224]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33766, "action": "carry", "object": "Bottle", "frame_index": 163, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33767", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.072]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.735, 1.200]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33767, "action": "carry", "object": "Bottle", "frame_index": 165, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33772", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.392, 1.070]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33772, "action": "carry", "object": "Bottle", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33780", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.429, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33780, "action": "putdown", "object": "Bottle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33781", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.426, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33781, "action": "putdown", "object": "Bottle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33782", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.434, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33782, "action": "putdown", "object": "Bottle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33857", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.478, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 1.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33857, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33858", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.489, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.413, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 1.021." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33858, "action": "carry", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33859", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.344, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33859, "action": "carry", "object": "Bottle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33863", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.651, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.981, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.724." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33863, "action": "carry", "object": "Bottle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33880", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.669, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.978, 0.990]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33880, "action": "carry", "object": "Bottle", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33881", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.666, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.959, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33881, "action": "carry", "object": "Bottle", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33885", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.956, 1.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33885, "action": "carry", "object": "Bottle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33886", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.623, 1.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.994, 1.024]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33886, "action": "carry", "object": "Bottle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33893", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N27_S258_s02_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S258_s02_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N27_S258_s02_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.698, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.961, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33893, "action": "carry", "object": "Bottle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33942", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.132]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.324." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33942, "action": "carry", "object": "Bottle", "frame_index": 170, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33945", "task": "put the bottle to the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put the bottle to the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: put the bottle to the drawer, execute the following phases: 1) Initial approach phase (start at [1.351, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33945, "action": "putdown", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33952", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.418, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.444, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33952, "action": "putdown", "object": "Bottle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33967", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S268_s02_T6/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S268_s02_T6/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S268_s02_T6/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.461, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.394, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.966." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33967, "action": "carry", "object": "Bottle", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33992", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.976]). The trajectory involves 5 precise waypoints with total movement distance of 0.934." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33992, "action": "carry", "object": "Bottle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_33993", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.748, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.893." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 33993, "action": "carry", "object": "Bottle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34002", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.895, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.862." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34002, "action": "carry", "object": "Bottle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34005", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.620, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.765, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34005, "action": "carry", "object": "Bottle", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34048", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.626, 1.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.673, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34048, "action": "pickup", "object": "Bottle", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34051", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.625, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.643, 1.114]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34051, "action": "pickup", "object": "Bottle", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34054", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.637, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.720, 1.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.956." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34054, "action": "carry", "object": "Bottle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34086", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.458, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.393, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 1.040." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34086, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34087", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.435, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.353, 1.626]). The trajectory involves 5 precise waypoints with total movement distance of 1.022." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34087, "action": "carry", "object": "Bottle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34112", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N24_S263_s04_T4/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S263_s04_T4/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S263_s04_T4/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.447, 1.195]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.763, 1.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.703." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34112, "action": "carry", "object": "Bottle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34122", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.958, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34122, "action": "carry", "object": "Bottle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34126", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.556, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34126, "action": "putdown", "object": "Bottle", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34307", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.474, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.368, 1.010]). The trajectory involves 5 precise waypoints with total movement distance of 0.933." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34307, "action": "carry", "object": "Bottle", "frame_index": 155, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34308", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.491, 0.923]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.361, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.909." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34308, "action": "carry", "object": "Bottle", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34313", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.708, 1.017]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.777, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34313, "action": "putdown", "object": "Bottle", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34318", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.704, 1.147]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34318, "action": "putdown", "object": "Bottle", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34319", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.693, 1.186]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34319, "action": "putdown", "object": "Bottle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34321", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.694, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34321, "action": "putdown", "object": "Bottle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34385", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S268_s01_T6/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S268_s01_T6/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S268_s01_T6/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.425, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.343, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 1.023." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34385, "action": "carry", "object": "Bottle", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34432", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N22_S258_s01_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S258_s01_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N22_S258_s01_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.910, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34432, "action": "carry", "object": "Bottle", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34441", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00031.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.872, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 0.710]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34441, "action": "carry", "object": "Bottle", "frame_index": 31, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34442", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.826, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 0.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34442, "action": "carry", "object": "Bottle", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34446", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.830, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 0.791]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34446, "action": "carry", "object": "Bottle", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34451", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.853, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.100, 0.889]). The trajectory involves 5 precise waypoints with total movement distance of 0.786." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34451, "action": "carry", "object": "Bottle", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34456", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.047, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.840." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34456, "action": "carry", "object": "Bottle", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34461", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.752, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.155, 1.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34461, "action": "carry", "object": "Bottle", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34557", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.228, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.145, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 1.014." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34557, "action": "carry", "object": "Bottle", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34566", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.485, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.881, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34566, "action": "carry", "object": "Bottle", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34567", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.470, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.899, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34567, "action": "carry", "object": "Bottle", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34582", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.452, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.604, 1.661]). The trajectory involves 5 precise waypoints with total movement distance of 1.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34582, "action": "carry", "object": "Bottle", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34583", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.417, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.477, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 1.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34583, "action": "carry", "object": "Bottle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34613", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N21_S258_s01_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S258_s01_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N21_S258_s01_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.712, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34613, "action": "putdown", "object": "Bottle", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34619", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.867, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34619, "action": "carry", "object": "Bottle", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34621", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.335, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34621, "action": "carry", "object": "Bottle", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34622", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.789, 1.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34622, "action": "carry", "object": "Bottle", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34624", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.737, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.261]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34624, "action": "carry", "object": "Bottle", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34628", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.197, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34628, "action": "carry", "object": "Bottle", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34632", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.693, 1.145]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.196, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34632, "action": "carry", "object": "Bottle", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34635", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.653, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.168, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34635, "action": "carry", "object": "Bottle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34642", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.625, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34642, "action": "carry", "object": "Bottle", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34643", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.632, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34643, "action": "carry", "object": "Bottle", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34644", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.614, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34644, "action": "carry", "object": "Bottle", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34650", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.608, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34650, "action": "putdown", "object": "Bottle", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34655", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.620, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.548, 1.537]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34655, "action": "putdown", "object": "Bottle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34713", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N20_S263_s03_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S263_s03_T3/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N20_S263_s03_T3/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.570, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34713, "action": "putdown", "object": "Bottle", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34766", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.383, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.477, 1.770]). The trajectory involves 5 precise waypoints with total movement distance of 1.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34766, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34783", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.624, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34783, "action": "putdown", "object": "Bottle", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34804", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N19_S255_s05_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N19_S255_s05_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N19_S255_s05_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [2.006, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34804, "action": "carry", "object": "Bottle", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34997", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.366, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.396, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 1.090." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34997, "action": "carry", "object": "Bottle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_34999", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.333, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.353, 1.847]). The trajectory involves 5 precise waypoints with total movement distance of 1.087." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 34999, "action": "carry", "object": "Bottle", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35033", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N17_S255_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N17_S255_s05_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N17_S255_s05_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.911, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.474." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35033, "action": "carry", "object": "Bottle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35059", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N16_S56_s01_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N16_S56_s01_T2/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N16_S56_s01_T2/align_rgb/00172.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.315, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.873, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35059, "action": "putdown", "object": "Bottle", "frame_index": 172, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35121", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.395, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.581, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 1.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35121, "action": "carry", "object": "Bottle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35136", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.497, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.460, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.324." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35136, "action": "putdown", "object": "Bottle", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35166", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.471, 1.050]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.714, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 1.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35166, "action": "carry", "object": "Bottle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35168", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.457, 1.079]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.540, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 1.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35168, "action": "carry", "object": "Bottle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35174", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.671, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 1.396]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35174, "action": "putdown", "object": "Bottle", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35178", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N15_S263_s02_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S263_s02_T3/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S263_s02_T3/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.584, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.161." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35178, "action": "carry", "object": "Bottle", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35216", "task": "pick up the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.374, 1.094]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.405, 0.943]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35216, "action": "pickup", "object": "Bottle", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35219", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.415, 1.083]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35219, "action": "putdown", "object": "Bottle", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35242", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N14_S267_s04_T5/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S267_s04_T5/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S267_s04_T5/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.482, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.697, 1.842]). The trajectory involves 5 precise waypoints with total movement distance of 1.382." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35242, "action": "carry", "object": "Bottle", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35257", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.367, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.515, 1.878]). The trajectory involves 5 precise waypoints with total movement distance of 1.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35257, "action": "carry", "object": "Bottle", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35258", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.356, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.464, 1.858]). The trajectory involves 5 precise waypoints with total movement distance of 1.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35258, "action": "carry", "object": "Bottle", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35286", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N14_S255_s04_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S255_s04_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S255_s04_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.542, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35286, "action": "carry", "object": "Bottle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35302", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.487, 1.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35302, "action": "putdown", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35303", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.527, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.638]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35303, "action": "putdown", "object": "Bottle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35403", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.762, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35403, "action": "putdown", "object": "Bottle", "frame_index": 226, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35404", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.744, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35404, "action": "putdown", "object": "Bottle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35409", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.520, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.659, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 1.228." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35409, "action": "carry", "object": "Bottle", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35410", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.548, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.638, 1.794]). The trajectory involves 5 precise waypoints with total movement distance of 1.182." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35410, "action": "carry", "object": "Bottle", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35411", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.535, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.541, 1.824]). The trajectory involves 5 precise waypoints with total movement distance of 1.111." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35411, "action": "carry", "object": "Bottle", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35429", "task": "carry Bottle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S255_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S255_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S255_s03_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.568, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.985, 1.211]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35429, "action": "carry", "object": "Bottle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35453", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.415, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35453, "action": "putdown", "object": "Bottle", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35454", "task": "put down the bottle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the bottle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.399, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.377, 1.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35454, "action": "putdown", "object": "Bottle", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_35686", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.555, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35686, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35687", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00005.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00006.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00007.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35687, "action": "open", "object": "Storage Furniture", "frame_index": 7, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35689", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00020.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00021.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00022.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.859]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35689, "action": "open", "object": "Storage Furniture", "frame_index": 22, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35693", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.634, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35693, "action": "close", "object": "Storage Furniture", "frame_index": 82, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35696", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.620, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.730]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35696, "action": "open", "object": "Storage Furniture", "frame_index": 145, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35697", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00146.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.656, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.732]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35697, "action": "open", "object": "Storage Furniture", "frame_index": 148, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35698", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.724, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.807]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35698, "action": "open", "object": "Storage Furniture", "frame_index": 152, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35699", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.858]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35699, "action": "open", "object": "Storage Furniture", "frame_index": 155, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35700", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.859]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35700, "action": "open", "object": "Storage Furniture", "frame_index": 159, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35704", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.614, 1.887]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35704, "action": "close", "object": "Storage Furniture", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35705", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.695, 1.895]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35705, "action": "close", "object": "Storage Furniture", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35706", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.610, 1.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35706, "action": "close", "object": "Storage Furniture", "frame_index": 221, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35707", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.708, 1.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.691, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35707, "action": "close", "object": "Storage Furniture", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_35724", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.888, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35724, "action": "open", "object": "Storage Furniture", "frame_index": 169, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_35732", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.908, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35732, "action": "close", "object": "Storage Furniture", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_35764", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.859, 1.938]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.929, 1.699]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35764, "action": "close", "object": "Storage Furniture", "frame_index": 87, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_35777", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.954, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.994, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35777, "action": "close", "object": "Storage Furniture", "frame_index": 218, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_35806", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.905, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.144, 0.796]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35806, "action": "open", "object": "Laptop", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_35808", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.840, 1.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.984, 0.949]). The trajectory involves 5 precise waypoints with total movement distance of 0.460." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35808, "action": "open", "object": "Laptop", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_35852", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N28_S354_s05_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N28_S354_s05_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N28_S354_s05_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 1.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.955, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35852, "action": "open", "object": "Laptop", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_35887", "task": "carry Laptop to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N26_S353_s04_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N26_S353_s04_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N26_S353_s04_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.470, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.035, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 0.613." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35887, "action": "carry", "object": "Laptop", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_35916", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N25_S353_s04_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N25_S353_s04_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N25_S353_s04_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.014, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 35916, "action": "carry", "object": "Laptop", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_36039", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N17_S353_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N17_S353_s02_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N17_S353_s02_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.842, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.442." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36039, "action": "carry", "object": "Laptop", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_36057", "task": "carry Laptop to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N15_S353_s02_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N15_S353_s02_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N15_S353_s02_T1/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Laptop to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.813, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.409]). The trajectory involves 5 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36057, "action": "carry", "object": "Laptop", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen" ] } }, { "id": "hoi4d_36167", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.738, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.914, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36167, "action": "open", "object": "Laptop", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_36172", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.705, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36172, "action": "close", "object": "Laptop", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_36281", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.747, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 0.753]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36281, "action": "carry", "object": "Mug", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36285", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.696, 0.984]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 0.918]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36285, "action": "carry", "object": "Mug", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36289", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.706, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 0.816]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36289, "action": "carry", "object": "Mug", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36301", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.562, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 0.893]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36301, "action": "pickup", "object": "Mug", "frame_index": 164, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36466", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.757, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.483, 0.872]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36466, "action": "carry", "object": "Mug", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36468", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.730, 1.031]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.481, 0.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36468, "action": "carry", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36572", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.940, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.906, 0.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36572, "action": "pickup", "object": "Mug", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36575", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.826, 0.971]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 0.916]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36575, "action": "carry", "object": "Mug", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36581", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.788, 0.905]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 0.935]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36581, "action": "carry", "object": "Mug", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36625", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.756, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 0.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.091." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36625, "action": "putdown", "object": "Mug", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36658", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.647, 0.955]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36658, "action": "putdown", "object": "Mug", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36660", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.661, 0.976]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.064]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36660, "action": "putdown", "object": "Mug", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36728", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N46_S29_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N46_S29_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N46_S29_s03_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.622, 0.961]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36728, "action": "putdown", "object": "Mug", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36781", "task": "take the mug out of the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: take the mug out of the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.515, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36781, "action": "carry", "object": "Mug", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36813", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.819, 0.962]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36813, "action": "putdown", "object": "Mug", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36852", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.636, 0.961]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 0.869]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36852, "action": "pickup", "object": "Mug", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36869", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.680, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 0.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.087." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36869, "action": "putdown", "object": "Mug", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_36883", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.691, 1.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.025]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 36883, "action": "pickup", "object": "Mug", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37058", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.845, 1.118]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.117, 1.036]). The trajectory involves 5 precise waypoints with total movement distance of 0.740." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37058, "action": "carry", "object": "Mug", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37061", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.839, 1.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.982, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.883." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37061, "action": "carry", "object": "Mug", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37063", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.860, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.054, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.839." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37063, "action": "carry", "object": "Mug", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37074", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.708, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.657, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37074, "action": "putdown", "object": "Mug", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37151", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.733, 1.092]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.086." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37151, "action": "pickup", "object": "Mug", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37154", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.749, 1.058]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 0.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.067." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37154, "action": "pickup", "object": "Mug", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37167", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00224.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.765, 0.976]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.064." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37167, "action": "putdown", "object": "Mug", "frame_index": 224, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37184", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.316, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.795, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 1.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37184, "action": "carry", "object": "Mug", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37185", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.159]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.771, 1.814]). The trajectory involves 5 precise waypoints with total movement distance of 1.623." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37185, "action": "carry", "object": "Mug", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37225", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.930, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37225, "action": "putdown", "object": "Mug", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37441", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.399, 0.979]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.394, 0.816]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37441, "action": "pickup", "object": "Mug", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37480", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.518, 0.940]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.528, 0.843]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37480, "action": "pickup", "object": "Mug", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37482", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.518, 0.921]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 0.832]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37482, "action": "pickup", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37639", "task": "take the mug of the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T3/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T3/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T3/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: take the mug of the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: take the mug of the drawer, execute the following phases: 1) Initial approach phase (start at [1.493, 1.129]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 0.689]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37639, "action": "carry", "object": "Mug", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37753", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.698, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 0.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37753, "action": "pickup", "object": "Mug", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37783", "task": "take the mug out of the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: take the mug out of the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.506, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 0.884]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37783, "action": "pickup", "object": "Mug", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37784", "task": "take the mug out of the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: take the mug out of the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.496, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 0.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37784, "action": "pickup", "object": "Mug", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37785", "task": "take the mug out of the drawer", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: take the mug out of the drawer?" }, { "from": "gpt", "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.492, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 0.823]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37785, "action": "pickup", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_37996", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T3/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T3/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T3/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.583, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.765]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 37996, "action": "putdown", "object": "Mug", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38037", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.537, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.069." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38037, "action": "putdown", "object": "Mug", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38151", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.882, 0.986]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 0.686]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38151, "action": "carry", "object": "Mug", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38152", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.879, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.443, 0.603]). The trajectory involves 5 precise waypoints with total movement distance of 0.535." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38152, "action": "carry", "object": "Mug", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38155", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.786, 0.843]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 0.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.485." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38155, "action": "carry", "object": "Mug", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38157", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.751, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.260, 0.726]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38157, "action": "carry", "object": "Mug", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38158", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.210, 0.728]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38158, "action": "carry", "object": "Mug", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38165", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.655, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.001, 0.850]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38165, "action": "carry", "object": "Mug", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38167", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.661, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.011, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38167, "action": "carry", "object": "Mug", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38169", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.568, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.902, 0.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.680." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38169, "action": "carry", "object": "Mug", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38171", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.502, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.912, 0.885]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38171, "action": "carry", "object": "Mug", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38174", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.373, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.880, 0.933]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38174, "action": "carry", "object": "Mug", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38203", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.493, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.517, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.112." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38203, "action": "pickup", "object": "Mug", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38264", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00051.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.848, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 0.937]). The trajectory involves 5 precise waypoints with total movement distance of 0.605." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38264, "action": "carry", "object": "Mug", "frame_index": 51, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38266", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.815, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.246, 0.946]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38266, "action": "carry", "object": "Mug", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38267", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.811, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.221, 0.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38267, "action": "carry", "object": "Mug", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38268", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.806, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.163, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38268, "action": "carry", "object": "Mug", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38269", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.779, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.076, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.766." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38269, "action": "carry", "object": "Mug", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38271", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.767, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.063, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 0.737." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38271, "action": "carry", "object": "Mug", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38272", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.750, 1.201]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.039, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.752." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38272, "action": "carry", "object": "Mug", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38288", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.449, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38288, "action": "putdown", "object": "Mug", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38332", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.534, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.088." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38332, "action": "putdown", "object": "Mug", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38341", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.563, 1.063]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 0.950]). The trajectory involves 5 precise waypoints with total movement distance of 0.113." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38341, "action": "pickup", "object": "Mug", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38380", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00034.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.669, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 0.862]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38380, "action": "pickup", "object": "Mug", "frame_index": 34, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38383", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.692, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.033, 0.895]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38383, "action": "carry", "object": "Mug", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38388", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.709, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.040, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38388, "action": "carry", "object": "Mug", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38395", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.724, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.268, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38395, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38415", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.709, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38415, "action": "putdown", "object": "Mug", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38442", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.607, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38442, "action": "pickup", "object": "Mug", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38446", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.598, 1.157]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38446, "action": "pickup", "object": "Mug", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38447", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.604, 1.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.617, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.091." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38447, "action": "pickup", "object": "Mug", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38450", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.611, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.082." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38450, "action": "pickup", "object": "Mug", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38529", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.508, 1.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.095]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38529, "action": "carry", "object": "Mug", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38560", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.689, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38560, "action": "putdown", "object": "Mug", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38564", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.697, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.666, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38564, "action": "putdown", "object": "Mug", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38582", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.635, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.020, 1.580]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38582, "action": "putdown", "object": "Mug", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38585", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.596, 1.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.072, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38585, "action": "putdown", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_38782", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C18_N50_S241_s02_T2/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N50_S241_s02_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N50_S241_s02_T2/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.561, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.079." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38782, "action": "carry", "object": "Stapler", "frame_index": 165, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_38900", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C18_N46_S135_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N46_S135_s01_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N46_S135_s01_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.504, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38900, "action": "putdown", "object": "Stapler", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_38922", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C18_N43_S183_s05_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N43_S183_s05_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N43_S183_s05_T2/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.431, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 38922, "action": "putdown", "object": "Stapler", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_39037", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 39037, "action": "carry", "object": "Stapler", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_39041", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 39041, "action": "carry", "object": "Stapler", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_39049", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C18_N36_S183_s03_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N36_S183_s03_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C18_N36_S183_s03_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.534, 1.065]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.397]). The trajectory involves 5 precise waypoints with total movement distance of 0.388." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 39049, "action": "putdown", "object": "Stapler", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_39973", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.390, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.385, 1.237]). The trajectory involves 5 precise waypoints with total movement distance of 0.293." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 39973, "action": "open", "object": "Trash Can", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_39981", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.686, 1.234]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 39981, "action": "close", "object": "Trash Can", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_39988", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.388, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.387, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 39988, "action": "open", "object": "Trash Can", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40045", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N48_S163_s03_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N48_S163_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N48_S163_s03_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.400, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.336, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40045, "action": "close", "object": "Trash Can", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40086", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N46_S163_s03_T1/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N46_S163_s03_T1/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N46_S163_s03_T1/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.375, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.452." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40086, "action": "close", "object": "Trash Can", "frame_index": 252, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40097", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N44_S187_s02_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N44_S187_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N44_S187_s02_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.452, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40097, "action": "close", "object": "Trash Can", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40252", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N25_S163_s02_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N25_S163_s02_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N25_S163_s02_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.477, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40252, "action": "open", "object": "Trash Can", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40289", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N24_S359_s02_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N24_S359_s02_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N24_S359_s02_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.502, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40289, "action": "close", "object": "Trash Can", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40293", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.526, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.534, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40293, "action": "open", "object": "Trash Can", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40310", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.414, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40310, "action": "close", "object": "Trash Can", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40331", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.519, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40331, "action": "open", "object": "Trash Can", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40334", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.711, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.561, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40334, "action": "close", "object": "Trash Can", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40336", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.698, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.494]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40336, "action": "close", "object": "Trash Can", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40343", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.691, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.590]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40343, "action": "close", "object": "Trash Can", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40357", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.429, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 1.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40357, "action": "close", "object": "Trash Can", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40369", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.389, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.385, 1.630]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40369, "action": "close", "object": "Trash Can", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40416", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N20_S185_s05_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N20_S185_s05_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N20_S185_s05_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.550, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40416, "action": "open", "object": "Trash Can", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40454", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.523, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40454, "action": "open", "object": "Trash Can", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40455", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00047.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.504, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.144]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40455, "action": "open", "object": "Trash Can", "frame_index": 47, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40487", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N19_S161_s05_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N19_S161_s05_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N19_S161_s05_T1/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.514, 1.028]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.485, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40487, "action": "close", "object": "Trash Can", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40675", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N15_S161_s04_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N15_S161_s04_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N15_S161_s04_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.431, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.134." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40675, "action": "open", "object": "Trash Can", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40749", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.405, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.413, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40749, "action": "open", "object": "Trash Can", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40775", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.417, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.583]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40775, "action": "close", "object": "Trash Can", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40786", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N12_S185_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N12_S185_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N12_S185_s03_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.925, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.789, 1.089]). The trajectory involves 5 precise waypoints with total movement distance of 1.468." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40786, "action": "carry", "object": "Trash Can", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40819", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N12_S161_s03_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N12_S161_s03_T1/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N12_S161_s03_T1/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.484, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.481, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40819, "action": "close", "object": "Trash Can", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40827", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N11_S185_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S185_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S185_s03_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.815, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.923, 0.951]). The trajectory involves 5 precise waypoints with total movement distance of 1.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40827, "action": "carry", "object": "Trash Can", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_40834", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.333, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.315]). The trajectory involves 5 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40834, "action": "open", "object": "Trash Can", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40838", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.304, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.397, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40838, "action": "open", "object": "Trash Can", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40860", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.437, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40860, "action": "close", "object": "Trash Can", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_40961", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N32_S128_s03_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N32_S128_s03_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N32_S128_s03_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.460, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.488, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 40961, "action": "putdown", "object": "Knife", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41007", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N28_S128_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N28_S128_s02_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N28_S128_s02_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.384, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41007, "action": "putdown", "object": "Knife", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41147", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N21_S192_s01_T3/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N21_S192_s01_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N21_S192_s01_T3/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.495, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41147, "action": "putdown", "object": "Knife", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41353", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N15_S346_s01_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N15_S346_s01_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N15_S346_s01_T1/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.329, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41353, "action": "pickup", "object": "Knife", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41438", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N12_S189_s03_T4/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S189_s03_T4/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S189_s03_T4/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.554, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.479]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41438, "action": "putdown", "object": "Knife", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41454", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.540, 1.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.740]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41454, "action": "putdown", "object": "Knife", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41455", "task": "pick up the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.552, 1.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41455, "action": "pickup", "object": "Knife", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41456", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.539, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.734]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41456, "action": "putdown", "object": "Knife", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41462", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N11_S189_s03_T4/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N11_S189_s03_T4/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N11_S189_s03_T4/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.544, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41462, "action": "putdown", "object": "Knife", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41475", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C13_N11_S124_s03_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N11_S124_s03_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C13_N11_S124_s03_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.546, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.509]). The trajectory involves 5 precise waypoints with total movement distance of 0.098." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41475, "action": "putdown", "object": "Knife", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_41496", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N46_S346_s03_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N46_S346_s03_T2/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N46_S346_s03_T2/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.314, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41496, "action": "putdown", "object": "Kettle", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41646", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.798, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.109, 1.774]). The trajectory involves 5 precise waypoints with total movement distance of 1.874." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41646, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41647", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.778, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.015, 1.847]). The trajectory involves 5 precise waypoints with total movement distance of 1.981." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41647, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41649", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.716, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.007, 1.829]). The trajectory involves 5 precise waypoints with total movement distance of 1.944." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41649, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41651", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.669, 1.132]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.167, 1.709]). The trajectory involves 5 precise waypoints with total movement distance of 1.680." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41651, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41678", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.955, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41678, "action": "carry", "object": "Kettle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41680", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.929, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41680, "action": "carry", "object": "Kettle", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41740", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.914, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.512." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41740, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41741", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.875, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.530." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41741, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41821", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.690, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.229, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 1.620." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41821, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41822", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.678, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 1.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41822, "action": "carry", "object": "Kettle", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41865", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.746, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.197, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 1.682." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41865, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41866", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.752, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.095, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 1.807." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41866, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41867", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.732, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.027, 1.708]). The trajectory involves 5 precise waypoints with total movement distance of 1.881." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41867, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41871", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.654, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.202, 1.709]). The trajectory involves 5 precise waypoints with total movement distance of 1.636." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41871, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41915", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.624, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.236, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 1.520." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41915, "action": "carry", "object": "Kettle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41916", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.580, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.126, 1.828]). The trajectory involves 5 precise waypoints with total movement distance of 1.595." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41916, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41917", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.549, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.087, 1.833]). The trajectory involves 5 precise waypoints with total movement distance of 1.613." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41917, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41918", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.523, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.110, 1.845]). The trajectory involves 5 precise waypoints with total movement distance of 1.570." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41918, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41921", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.222, 1.856]). The trajectory involves 5 precise waypoints with total movement distance of 1.391." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41921, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41922", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.400, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 1.851]). The trajectory involves 5 precise waypoints with total movement distance of 1.333." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41922, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41923", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.389, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 1.287." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41923, "action": "carry", "object": "Kettle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41958", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.637, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.658, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41958, "action": "pickup", "object": "Kettle", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41959", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.716, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 1.312." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41959, "action": "carry", "object": "Kettle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41960", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.715, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 1.394." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41960, "action": "carry", "object": "Kettle", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41962", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.667, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.235, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 1.507." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41962, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41963", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.649, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.206, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 1.502." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41963, "action": "carry", "object": "Kettle", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41967", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.069]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.238, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 1.413." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41967, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41968", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.539, 1.047]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 1.369." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41968, "action": "carry", "object": "Kettle", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_41988", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N23_S198_s01_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N23_S198_s01_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N23_S198_s01_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.796, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 41988, "action": "pickup", "object": "Kettle", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42033", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N23_S157_s01_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N23_S157_s01_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N23_S157_s01_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.619, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42033, "action": "putdown", "object": "Kettle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42047", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.560, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.970, 1.512]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42047, "action": "putdown", "object": "Kettle", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42057", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.751, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 1.584." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42057, "action": "carry", "object": "Kettle", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42106", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.769, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.213, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 1.673." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42106, "action": "carry", "object": "Kettle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42111", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.591, 1.123]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.154, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 1.583." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42111, "action": "carry", "object": "Kettle", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42120", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N21_S157_s01_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N21_S157_s01_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N21_S157_s01_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.379, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42120, "action": "putdown", "object": "Kettle", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42150", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.763, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.124, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 1.868." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42150, "action": "carry", "object": "Kettle", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42153", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.145, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 2.032." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42153, "action": "carry", "object": "Kettle", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42156", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.046, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 1.816." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42156, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42228", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N19_S196_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N19_S196_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N19_S196_s05_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.749, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.015, 1.415]). The trajectory involves 5 precise waypoints with total movement distance of 1.932." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42228, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42279", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.750, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.054, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 1.880." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42279, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42280", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.729, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.065, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 1.857." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42280, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42283", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.615, 1.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.195, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 1.533." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42283, "action": "carry", "object": "Kettle", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42354", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.375, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.994, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42354, "action": "carry", "object": "Kettle", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42360", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.960, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42360, "action": "carry", "object": "Kettle", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42389", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.106, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 2.037." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42389, "action": "carry", "object": "Kettle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42392", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.029, 1.589]). The trajectory involves 5 precise waypoints with total movement distance of 1.775." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42392, "action": "carry", "object": "Kettle", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42400", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N16_S154_s05_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S154_s05_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N16_S154_s05_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.533, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42400, "action": "pickup", "object": "Kettle", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42439", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.767, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 1.498." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42439, "action": "carry", "object": "Kettle", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42443", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.689, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.172, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 1.661." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42443, "action": "carry", "object": "Kettle", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42472", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.502, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.023, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42472, "action": "putdown", "object": "Kettle", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42474", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.409, 1.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.001, 1.066]). The trajectory involves 5 precise waypoints with total movement distance of 0.623." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42474, "action": "putdown", "object": "Kettle", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42503", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N14_S154_s04_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N14_S154_s04_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N14_S154_s04_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.774, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42503, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42533", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.753, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.174, 1.620]). The trajectory involves 5 precise waypoints with total movement distance of 1.769." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42533, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42536", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.068]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.119, 1.750]). The trajectory involves 5 precise waypoints with total movement distance of 1.657." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42536, "action": "carry", "object": "Kettle", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42572", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N12_S196_s03_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N12_S196_s03_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N12_S196_s03_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.440, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42572, "action": "putdown", "object": "Kettle", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42640", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C12_N11_S196_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N11_S196_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C12_N11_S196_s03_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.582, 1.082]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.269, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 1.442." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42640, "action": "carry", "object": "Kettle", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_42681", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C11_N50_S137_s03_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N50_S137_s03_T1/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N50_S137_s03_T1/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.220, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42681, "action": "carry", "object": "Pliers", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_42981", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C11_N18_S133_s05_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N18_S133_s05_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N18_S133_s05_T1/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.294, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 42981, "action": "carry", "object": "Pliers", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_43037", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C11_N16_S133_s04_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N16_S133_s04_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N16_S133_s04_T1/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.210, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43037, "action": "putdown", "object": "Pliers", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Right Part of the Pliers", "Left Part of the Pliers" ] } }, { "id": "hoi4d_43099", "task": "put down the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C11_N14_S133_s04_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N14_S133_s04_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N14_S133_s04_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.111, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.075, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43099, "action": "putdown", "object": "Pliers", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_43170", "task": "pick up the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.422, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43170, "action": "pickup", "object": "Pliers", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_43176", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.767, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43176, "action": "carry", "object": "Pliers", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_43372", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00027.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.230, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.137, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43372, "action": "push", "object": "Toy Car", "frame_index": 27, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43388", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.341, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.215, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.125." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43388, "action": "push", "object": "Toy Car", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43398", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.375, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.222, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43398, "action": "push", "object": "Toy Car", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43401", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.162, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.113]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43401, "action": "pull", "object": "Toy Car", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43403", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.367, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43403, "action": "pull", "object": "Toy Car", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43409", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.184, 1.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.135]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43409, "action": "pull", "object": "Toy Car", "frame_index": 124, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43417", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00140.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.203, 1.082]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43417, "action": "pull", "object": "Toy Car", "frame_index": 140, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43424", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.146, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.127, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43424, "action": "push", "object": "Toy Car", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43488", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N49_S89_s05_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N49_S89_s05_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N49_S89_s05_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.654, 1.079]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.062." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43488, "action": "putdown", "object": "Toy Car", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43511", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00019.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00020.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00021.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.593, 0.974]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.490, 0.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43511, "action": "push", "object": "Toy Car", "frame_index": 21, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43538", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.410, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.544, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43538, "action": "pull", "object": "Toy Car", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43544", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.421, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43544, "action": "pull", "object": "Toy Car", "frame_index": 121, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43546", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.466, 1.081]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43546, "action": "pull", "object": "Toy Car", "frame_index": 125, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43569", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.340, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.129]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43569, "action": "push", "object": "Toy Car", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43580", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.386, 1.123]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.367, 1.235]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43580, "action": "pull", "object": "Toy Car", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43656", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T1/align_rgb/00257.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T1/align_rgb/00258.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T1/align_rgb/00259.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.608, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43656, "action": "putdown", "object": "Toy Car", "frame_index": 259, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43833", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43833, "action": "push", "object": "Toy Car", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43841", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.564, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43841, "action": "push", "object": "Toy Car", "frame_index": 54, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43846", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.378, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43846, "action": "pull", "object": "Toy Car", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43848", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43848, "action": "pull", "object": "Toy Car", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43852", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.314]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43852, "action": "pull", "object": "Toy Car", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43855", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00114.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.490, 1.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43855, "action": "pull", "object": "Toy Car", "frame_index": 114, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43898", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.399, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43898, "action": "pull", "object": "Toy Car", "frame_index": 252, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43931", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T1/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.455, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43931, "action": "putdown", "object": "Toy Car", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43967", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00019.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00020.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00021.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.316, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.139, 0.620]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43967, "action": "push", "object": "Toy Car", "frame_index": 21, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_43992", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.807, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 0.802]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 43992, "action": "push", "object": "Toy Car", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44005", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.802, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.080, 0.997]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44005, "action": "pull", "object": "Toy Car", "frame_index": 125, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44131", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00017.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00018.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00019.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.037, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.887, 0.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44131, "action": "push", "object": "Toy Car", "frame_index": 19, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44138", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.696, 0.957]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 0.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44138, "action": "push", "object": "Toy Car", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44142", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.779, 0.942]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 0.890]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44142, "action": "push", "object": "Toy Car", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44158", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [2.028, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.258, 0.825]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44158, "action": "pull", "object": "Toy Car", "frame_index": 102, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44237", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.633, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44237, "action": "pull", "object": "Toy Car", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44246", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.447, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44246, "action": "pull", "object": "Toy Car", "frame_index": 113, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44286", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 1.707]). The trajectory involves 5 precise waypoints with total movement distance of 0.113." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44286, "action": "pull", "object": "Toy Car", "frame_index": 245, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44303", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.580, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.061." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44303, "action": "pickup", "object": "Toy Car", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44338", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00182.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.577, 1.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.075." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44338, "action": "pickup", "object": "Toy Car", "frame_index": 182, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44450", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44450, "action": "push", "object": "Toy Car", "frame_index": 36, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44453", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.573, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44453, "action": "push", "object": "Toy Car", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44456", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.547, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44456, "action": "push", "object": "Toy Car", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44459", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.523, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.676, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44459, "action": "pull", "object": "Toy Car", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44463", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.562, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.718, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44463, "action": "pull", "object": "Toy Car", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44471", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44471, "action": "pull", "object": "Toy Car", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44472", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.576, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.760, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44472, "action": "pull", "object": "Toy Car", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44560", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T1/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T1/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.592, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.076." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44560, "action": "putdown", "object": "Toy Car", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44666", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.631, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.444, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44666, "action": "push", "object": "Toy Car", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44670", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00043.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.628, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44670, "action": "push", "object": "Toy Car", "frame_index": 43, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44677", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.700, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.532, 1.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44677, "action": "push", "object": "Toy Car", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44679", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.711, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44679, "action": "push", "object": "Toy Car", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44688", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.506, 1.201]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44688, "action": "pull", "object": "Toy Car", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44692", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.204]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44692, "action": "pull", "object": "Toy Car", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44699", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.591, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.824, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.293." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44699, "action": "pull", "object": "Toy Car", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44726", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.543, 1.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.476, 1.293]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44726, "action": "pull", "object": "Toy Car", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44732", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00250.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.452, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.396, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44732, "action": "pull", "object": "Toy Car", "frame_index": 250, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44767", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.730, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.729, 0.880]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44767, "action": "putdown", "object": "Toy Car", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44792", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.738, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.726, 0.897]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44792, "action": "putdown", "object": "Toy Car", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44805", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.569, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44805, "action": "pickup", "object": "Toy Car", "frame_index": 40, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44806", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.548, 1.083]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44806, "action": "putdown", "object": "Toy Car", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44818", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.630, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44818, "action": "pickup", "object": "Toy Car", "frame_index": 137, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44822", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.652, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44822, "action": "pickup", "object": "Toy Car", "frame_index": 145, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44871", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.778, 1.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44871, "action": "push", "object": "Toy Car", "frame_index": 50, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44872", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.792, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.658, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44872, "action": "push", "object": "Toy Car", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44876", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.761, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.966, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44876, "action": "pull", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44878", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.797, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44878, "action": "pull", "object": "Toy Car", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44881", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.796, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.710]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44881, "action": "pull", "object": "Toy Car", "frame_index": 104, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44883", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.795, 1.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.975, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44883, "action": "pull", "object": "Toy Car", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44884", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.800, 1.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.771]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44884, "action": "pull", "object": "Toy Car", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44956", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.544, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.727]). The trajectory involves 5 precise waypoints with total movement distance of 0.076." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44956, "action": "putdown", "object": "Toy Car", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_44981", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.519, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 44981, "action": "putdown", "object": "Toy Car", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45005", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00029.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.067]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 0.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45005, "action": "push", "object": "Toy Car", "frame_index": 29, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45008", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.666, 1.040]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 0.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45008, "action": "push", "object": "Toy Car", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45009", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.659, 1.034]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.481, 0.917]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45009, "action": "push", "object": "Toy Car", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45017", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.627, 0.971]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.373, 0.788]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45017, "action": "push", "object": "Toy Car", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45022", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.635, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.364, 0.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45022, "action": "push", "object": "Toy Car", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45034", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.667, 0.823]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.859, 0.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45034, "action": "pull", "object": "Toy Car", "frame_index": 116, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45038", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.639, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.021]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45038, "action": "pull", "object": "Toy Car", "frame_index": 124, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45039", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00126.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.640, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.849, 0.945]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45039, "action": "pull", "object": "Toy Car", "frame_index": 126, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45041", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00130.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.622, 0.883]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.831, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45041, "action": "pull", "object": "Toy Car", "frame_index": 130, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45073", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00249.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00251.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.655, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 0.999]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45073, "action": "pull", "object": "Toy Car", "frame_index": 251, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45167", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00023.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00024.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00025.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.888, 1.228]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45167, "action": "push", "object": "Toy Car", "frame_index": 25, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45172", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.847, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.709, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45172, "action": "push", "object": "Toy Car", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45191", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.696, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45191, "action": "pull", "object": "Toy Car", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45193", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.702, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45193, "action": "pull", "object": "Toy Car", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45196", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.745, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45196, "action": "pull", "object": "Toy Car", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45203", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.785, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.999, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45203, "action": "pull", "object": "Toy Car", "frame_index": 121, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45222", "task": "push Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.503, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.409]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45222, "action": "push", "object": "Toy Car", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45237", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45237, "action": "pull", "object": "Toy Car", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45241", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.524, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45241, "action": "pull", "object": "Toy Car", "frame_index": 256, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45244", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00260.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00261.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00262.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.506, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45244, "action": "pull", "object": "Toy Car", "frame_index": 262, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45245", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00262.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00263.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00264.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.545, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45245, "action": "pull", "object": "Toy Car", "frame_index": 264, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45321", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00020.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00021.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00022.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.681, 1.015]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 0.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45321, "action": "push", "object": "Toy Car", "frame_index": 22, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45332", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.020]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 0.973]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45332, "action": "push", "object": "Toy Car", "frame_index": 44, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45335", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.554, 0.926]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 0.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45335, "action": "pull", "object": "Toy Car", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45336", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.580, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 0.992]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45336, "action": "pull", "object": "Toy Car", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45337", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.619, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 0.985]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45337, "action": "pull", "object": "Toy Car", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45341", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.647, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.975, 0.994]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45341, "action": "pull", "object": "Toy Car", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45342", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 0.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 1.040]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45342, "action": "pull", "object": "Toy Car", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45343", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.654, 0.936]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.024, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.389." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45343, "action": "pull", "object": "Toy Car", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45347", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.603, 0.965]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.896, 1.052]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45347, "action": "pull", "object": "Toy Car", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45352", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.606, 1.005]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.957, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.366." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45352, "action": "pull", "object": "Toy Car", "frame_index": 116, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45388", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.548, 0.917]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 1.010]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45388, "action": "pull", "object": "Toy Car", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45393", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.527, 1.021]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45393, "action": "pull", "object": "Toy Car", "frame_index": 249, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45469", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.559, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.794]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45469, "action": "pull", "object": "Toy Car", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45470", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.591, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.779]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45470, "action": "pull", "object": "Toy Car", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45472", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.657, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45472, "action": "pull", "object": "Toy Car", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45560", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.424, 1.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.244, 1.823]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45560, "action": "push", "object": "Toy Car", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45582", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.709, 1.856]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45582, "action": "pull", "object": "Toy Car", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45628", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.352, 1.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.898]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45628, "action": "pull", "object": "Toy Car", "frame_index": 254, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45761", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00156.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00157.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.493, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45761, "action": "pull", "object": "Toy Car", "frame_index": 157, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45766", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00167.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.495, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45766, "action": "pull", "object": "Toy Car", "frame_index": 167, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45767", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.483, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45767, "action": "pull", "object": "Toy Car", "frame_index": 169, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45798", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00020.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00021.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00022.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45798, "action": "push", "object": "Toy Car", "frame_index": 22, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45811", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.257, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45811, "action": "push", "object": "Toy Car", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45813", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.265, 1.537]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45813, "action": "push", "object": "Toy Car", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45818", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.417, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45818, "action": "push", "object": "Toy Car", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45822", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.332, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45822, "action": "pull", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45824", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.277, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.630]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45824, "action": "pull", "object": "Toy Car", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45835", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.342, 1.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45835, "action": "pull", "object": "Toy Car", "frame_index": 119, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45836", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.347, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45836, "action": "pull", "object": "Toy Car", "frame_index": 121, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45837", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.318, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45837, "action": "pull", "object": "Toy Car", "frame_index": 123, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45844", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.676, 1.712]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45844, "action": "pull", "object": "Toy Car", "frame_index": 137, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45901", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.371, 1.244]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 1.074]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45901, "action": "pickup", "object": "Toy Car", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45904", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.359, 1.088]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.369, 1.325]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45904, "action": "putdown", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45905", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.384, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45905, "action": "putdown", "object": "Toy Car", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45907", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.393, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45907, "action": "putdown", "object": "Toy Car", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45908", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.391, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.412, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45908, "action": "putdown", "object": "Toy Car", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45924", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.548, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45924, "action": "pickup", "object": "Toy Car", "frame_index": 184, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45946", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.498, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45946, "action": "putdown", "object": "Toy Car", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45960", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00027.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.503, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45960, "action": "push", "object": "Toy Car", "frame_index": 27, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45961", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00028.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00029.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.533, 1.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.397, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45961, "action": "push", "object": "Toy Car", "frame_index": 29, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45967", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.476, 1.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45967, "action": "push", "object": "Toy Car", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45969", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.457, 1.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45969, "action": "push", "object": "Toy Car", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45974", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.412, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.217, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45974, "action": "push", "object": "Toy Car", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45975", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.413, 1.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.225, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45975, "action": "push", "object": "Toy Car", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_45978", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.321, 1.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 45978, "action": "pull", "object": "Toy Car", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46005", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00165.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.415, 1.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.373, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46005, "action": "push", "object": "Toy Car", "frame_index": 165, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46033", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.448, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.272]). The trajectory involves 5 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46033, "action": "pickup", "object": "Toy Car", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46036", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00039.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.433, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.454, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46036, "action": "pickup", "object": "Toy Car", "frame_index": 39, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46037", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.418, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46037, "action": "pickup", "object": "Toy Car", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46053", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.386, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.392, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46053, "action": "putdown", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46054", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.396, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46054, "action": "putdown", "object": "Toy Car", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46189", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.444, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46189, "action": "push", "object": "Toy Car", "frame_index": 0, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46215", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.326, 1.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46215, "action": "pull", "object": "Toy Car", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46217", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.336, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46217, "action": "pull", "object": "Toy Car", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46219", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.312, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46219, "action": "pull", "object": "Toy Car", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46222", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.330, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46222, "action": "pull", "object": "Toy Car", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46224", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.344, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46224, "action": "pull", "object": "Toy Car", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46236", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.432, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 1.588]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46236, "action": "pull", "object": "Toy Car", "frame_index": 135, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46237", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.438, 1.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46237, "action": "pull", "object": "Toy Car", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46272", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.328, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.336, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46272, "action": "pull", "object": "Toy Car", "frame_index": 254, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46359", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.645, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46359, "action": "pickup", "object": "Toy Car", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46408", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.613, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46408, "action": "pickup", "object": "Toy Car", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46417", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.547, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46417, "action": "putdown", "object": "Toy Car", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46433", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00010.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00011.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00012.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.590, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46433, "action": "push", "object": "Toy Car", "frame_index": 12, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46444", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.511, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46444, "action": "push", "object": "Toy Car", "frame_index": 36, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46447", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.462, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.294, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46447, "action": "push", "object": "Toy Car", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46458", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.374, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.199, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46458, "action": "push", "object": "Toy Car", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46476", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.529]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46476, "action": "pull", "object": "Toy Car", "frame_index": 123, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46478", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.386, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46478, "action": "pull", "object": "Toy Car", "frame_index": 127, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46479", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.390, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.671, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46479, "action": "pull", "object": "Toy Car", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46481", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00131.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.402, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.706, 1.573]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46481, "action": "pull", "object": "Toy Car", "frame_index": 133, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46482", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.400, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.707, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46482, "action": "pull", "object": "Toy Car", "frame_index": 135, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46504", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.487, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46504, "action": "pull", "object": "Toy Car", "frame_index": 227, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46508", "task": "pull Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.448, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.429, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46508, "action": "pull", "object": "Toy Car", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46539", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00055.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.538, 1.067]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 0.864]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46539, "action": "pickup", "object": "Toy Car", "frame_index": 55, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46542", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.551, 0.886]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 0.729]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46542, "action": "pickup", "object": "Toy Car", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46557", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.602, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46557, "action": "putdown", "object": "Toy Car", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46564", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.608, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46564, "action": "pickup", "object": "Toy Car", "frame_index": 173, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46567", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.613, 1.132]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 0.897]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46567, "action": "pickup", "object": "Toy Car", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46569", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.607, 1.074]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 0.824]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46569, "action": "pickup", "object": "Toy Car", "frame_index": 183, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46571", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.594, 1.027]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 0.785]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46571, "action": "pickup", "object": "Toy Car", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46582", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.574, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46582, "action": "putdown", "object": "Toy Car", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46762", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.361, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.207, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.161." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46762, "action": "push", "object": "Toy Car", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46772", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.310, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46772, "action": "pull", "object": "Toy Car", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46784", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.332, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46784, "action": "pull", "object": "Toy Car", "frame_index": 120, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46785", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.340, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46785, "action": "pull", "object": "Toy Car", "frame_index": 122, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46786", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00124.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.345, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46786, "action": "pull", "object": "Toy Car", "frame_index": 124, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46788", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00128.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.338, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.449]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46788, "action": "pull", "object": "Toy Car", "frame_index": 128, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46803", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.303, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46803, "action": "push", "object": "Toy Car", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46889", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.312, 1.065]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46889, "action": "putdown", "object": "Toy Car", "frame_index": 241, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46890", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.303, 1.119]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.335, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46890, "action": "putdown", "object": "Toy Car", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_46985", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.415, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 46985, "action": "pickup", "object": "Toy Car", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47008", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.296, 0.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47008, "action": "putdown", "object": "Toy Car", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47012", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.329, 0.942]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.361, 1.105]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47012, "action": "putdown", "object": "Toy Car", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47013", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.335, 0.968]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47013, "action": "putdown", "object": "Toy Car", "frame_index": 119, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47015", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.329, 0.970]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.135]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47015, "action": "putdown", "object": "Toy Car", "frame_index": 123, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47018", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.345, 1.021]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.366, 1.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47018, "action": "putdown", "object": "Toy Car", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47019", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00130.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.354, 1.025]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47019, "action": "putdown", "object": "Toy Car", "frame_index": 131, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47027", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00145.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00146.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00147.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.370, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.288]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47027, "action": "putdown", "object": "Toy Car", "frame_index": 147, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47028", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.372, 1.131]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47028, "action": "putdown", "object": "Toy Car", "frame_index": 149, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47029", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00149.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.373, 1.136]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47029, "action": "putdown", "object": "Toy Car", "frame_index": 151, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47044", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00256.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00257.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.295, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47044, "action": "putdown", "object": "Toy Car", "frame_index": 257, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47048", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00263.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00264.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00265.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.334, 0.927]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.388, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47048, "action": "putdown", "object": "Toy Car", "frame_index": 265, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47059", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00024.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00026.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.443, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.291, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47059, "action": "push", "object": "Toy Car", "frame_index": 26, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47064", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.428, 1.234]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.242, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47064, "action": "push", "object": "Toy Car", "frame_index": 36, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47065", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.422, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47065, "action": "push", "object": "Toy Car", "frame_index": 38, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47069", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.389, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47069, "action": "push", "object": "Toy Car", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47070", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.381, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.188, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47070, "action": "push", "object": "Toy Car", "frame_index": 48, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47072", "task": "push Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: push Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.358, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.142, 1.187]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47072, "action": "push", "object": "Toy Car", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47081", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.344, 1.159]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47081, "action": "pull", "object": "Toy Car", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47085", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.337, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47085, "action": "pull", "object": "Toy Car", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47087", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00119.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.358, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47087, "action": "pull", "object": "Toy Car", "frame_index": 119, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47090", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.349, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47090, "action": "pull", "object": "Toy Car", "frame_index": 125, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47092", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.372, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47092, "action": "pull", "object": "Toy Car", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47094", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00131.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00133.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.381, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47094, "action": "pull", "object": "Toy Car", "frame_index": 133, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47117", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.612, 1.045]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.235]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47117, "action": "pull", "object": "Toy Car", "frame_index": 243, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47130", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00029.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00030.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00031.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.614, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47130, "action": "pickup", "object": "Toy Car", "frame_index": 31, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47131", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.622, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.111]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47131, "action": "pickup", "object": "Toy Car", "frame_index": 33, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47135", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.608, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47135, "action": "pickup", "object": "Toy Car", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47136", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00043.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.607, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47136, "action": "pickup", "object": "Toy Car", "frame_index": 43, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47145", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.529, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47145, "action": "putdown", "object": "Toy Car", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47150", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.542, 1.078]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.271]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47150, "action": "putdown", "object": "Toy Car", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47155", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00117.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.563, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47155, "action": "putdown", "object": "Toy Car", "frame_index": 117, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47168", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.524, 0.936]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47168, "action": "putdown", "object": "Toy Car", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47174", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.582, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.317]). The trajectory involves 5 precise waypoints with total movement distance of 0.175." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47174, "action": "putdown", "object": "Toy Car", "frame_index": 231, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_47175", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.590, 1.176]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.336]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 47175, "action": "putdown", "object": "Toy Car", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_50227", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N48_S319_s05_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N48_S319_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N48_S319_s05_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.077, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.458, 1.305]). The trajectory involves 5 precise waypoints with total movement distance of 1.442." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 50227, "action": "carry", "object": "Bucket", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_50327", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N46_S319_s04_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N46_S319_s04_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N46_S319_s04_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.153, 0.977]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.591, 1.133]). The trajectory involves 5 precise waypoints with total movement distance of 1.459." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 50327, "action": "carry", "object": "Bucket", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_50376", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N45_S319_s04_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N45_S319_s04_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N45_S319_s04_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.204, 0.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.420, 0.913]). The trajectory involves 5 precise waypoints with total movement distance of 1.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 50376, "action": "carry", "object": "Bucket", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_50597", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N42_S319_s03_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N42_S319_s03_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N42_S319_s03_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.352, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.524, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 1.241." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 50597, "action": "carry", "object": "Bucket", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_50852", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N40_S323_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N40_S323_s05_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N40_S323_s05_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.592, 0.917]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.770, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 1.293." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 50852, "action": "carry", "object": "Bucket", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_50874", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N40_S319_s03_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N40_S319_s03_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N40_S319_s03_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.228, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.607, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 1.410." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 50874, "action": "carry", "object": "Bucket", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_51109", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N38_S323_s05_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N38_S323_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N38_S323_s05_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.423, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.492, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 1.125." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51109, "action": "carry", "object": "Bucket", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51139", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N38_S319_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N38_S319_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N38_S319_s02_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.158, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.922." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51139, "action": "carry", "object": "Bucket", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_51171", "task": "pick up the bucket", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N38_S313_s05_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N38_S313_s05_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N38_S313_s05_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the bucket?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.174, 1.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.170, 0.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51171, "action": "pickup", "object": "Bucket", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51184", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N37_S323_s05_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N37_S323_s05_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N37_S323_s05_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.336, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.626, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 1.327." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51184, "action": "carry", "object": "Bucket", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_51219", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N37_S313_s05_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N37_S313_s05_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N37_S313_s05_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.098, 0.900]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.698, 0.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51219, "action": "carry", "object": "Bucket", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51242", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N36_S323_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N36_S323_s04_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N36_S323_s04_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.213, 1.008]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.044, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.878." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51242, "action": "carry", "object": "Bucket", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51466", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N34_S77_s04_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N34_S77_s04_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N34_S77_s04_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51466, "action": "carry", "object": "Bucket", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51574", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N34_S313_s04_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N34_S313_s04_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N34_S313_s04_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.150, 0.978]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 0.838]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51574, "action": "carry", "object": "Bucket", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51742", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [0.794, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 0.868]). The trajectory involves 5 precise waypoints with total movement distance of 0.873." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51742, "action": "carry", "object": "Bucket", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_51758", "task": "carry Bucket to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the left, execute the following phases: 1) Initial approach phase (start at [1.858, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.238, 1.101]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 51758, "action": "carry", "object": "Bucket", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket", "Handle" ] } }, { "id": "hoi4d_52148", "task": "carry Bucket to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C8_N30_S317_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N30_S317_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C8_N30_S317_s05_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bucket to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.172, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.920, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 1.810." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 52148, "action": "carry", "object": "Bucket", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Bucket" ] } }, { "id": "hoi4d_59718", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C6_N07_S247_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N07_S247_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N07_S247_s02_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.406, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 59718, "action": "open", "object": "Safe", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_59741", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C6_N06_S82_s03_T2/align_rgb/00149.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N06_S82_s03_T2/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N06_S82_s03_T2/align_rgb/00151.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.311, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.404, 1.582]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 59741, "action": "open", "object": "Safe", "frame_index": 151, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_59758", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C6_N06_S247_s02_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N06_S247_s02_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N06_S247_s02_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.437, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.488]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 59758, "action": "close", "object": "Safe", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_59826", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C6_N04_S247_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N04_S247_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N04_S247_s01_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.381, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.528, 1.553]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 59826, "action": "open", "object": "Safe", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_59887", "task": "close the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C6_N03_S82_s02_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N03_S82_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N03_S82_s02_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.607, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 59887, "action": "close", "object": "Safe", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_59927", "task": "open the safe", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C6_N02_S82_s01_T2/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N02_S82_s01_T2/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800001_H1_C6_N02_S82_s01_T2/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the safe?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.421, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 59927, "action": "open", "object": "Safe", "frame_index": 149, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Safe", "Door" ] } }, { "id": "hoi4d_60050", "task": "carry Bottle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C5_N15_S57_s03_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C5_N15_S57_s03_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C5_N15_S57_s03_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Bottle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.640, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60050, "action": "carry", "object": "Bottle", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Bottle" ] } }, { "id": "hoi4d_60065", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.364, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.907]). The trajectory involves 5 precise waypoints with total movement distance of 0.818." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60065, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60066", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 2.000]). The trajectory involves 5 precise waypoints with total movement distance of 0.852." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60066, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60067", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.327, 1.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 2.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.800." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60067, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60068", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.312, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 2.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60068, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60069", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.514, 1.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.033, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.679." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60069, "action": "close", "object": "Storage Furniture", "frame_index": 85, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60073", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.406, 1.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.138, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60073, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60074", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.405, 1.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60074, "action": "close", "object": "Storage Furniture", "frame_index": 95, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60075", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60075, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60076", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.298, 1.340]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60076, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60080", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.408, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.825, 1.924]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60080, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60082", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.365, 1.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.049, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60082, "action": "close", "object": "Storage Furniture", "frame_index": 223, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60110", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.377, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.901, 1.704]). The trajectory involves 5 precise waypoints with total movement distance of 0.825." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60110, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60111", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.355, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.772]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60111, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60112", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.346, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.747]). The trajectory involves 5 precise waypoints with total movement distance of 0.886." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60112, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60113", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.343, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.884, 1.787]). The trajectory involves 5 precise waypoints with total movement distance of 0.807." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60113, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60130", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.299, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.122, 1.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60130, "action": "close", "object": "Storage Furniture", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60134", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.079]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60134, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door", "Drawer" ] } }, { "id": "hoi4d_60138", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.493, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60138, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door", "Drawer" ] } }, { "id": "hoi4d_60146", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.477, 1.111]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.476]). The trajectory involves 5 precise waypoints with total movement distance of 0.367." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60146, "action": "open", "object": "Storage Furniture", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door", "Drawer" ] } }, { "id": "hoi4d_60152", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.366, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.379, 1.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60152, "action": "close", "object": "Storage Furniture", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door", "Drawer" ] } }, { "id": "hoi4d_60159", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.288, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60159, "action": "open", "object": "Storage Furniture", "frame_index": 54, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60160", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.303, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.751]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60160, "action": "open", "object": "Storage Furniture", "frame_index": 56, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60161", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.314, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.703]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60161, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60162", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.337, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.682]). The trajectory involves 5 precise waypoints with total movement distance of 0.566." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60162, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60165", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.457, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.145, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60165, "action": "close", "object": "Storage Furniture", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60170", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.408, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.791, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60170, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60173", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.596, 1.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.181, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60173, "action": "close", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60174", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.584, 1.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.192, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60174, "action": "close", "object": "Storage Furniture", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60201", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.354, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.746, 2.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.790." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60201, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60202", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.383, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.823, 2.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.750." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60202, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60203", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.328, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 2.051]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60203, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60204", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.289, 1.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 2.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60204, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60206", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.452, 1.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.127, 1.324]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60206, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60207", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.443, 1.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.146, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60207, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60210", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.433, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 2.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.815." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60210, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60211", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.412, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 2.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.809." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60211, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60221", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.527, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60221, "action": "open", "object": "Storage Furniture", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60222", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.562, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.339." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60222, "action": "open", "object": "Storage Furniture", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60223", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.527, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 0.336." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60223, "action": "open", "object": "Storage Furniture", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60245", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.371, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60245, "action": "open", "object": "Storage Furniture", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60247", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.768, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60247, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60248", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.742, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.509." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60248, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60251", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.622, 1.905]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.431, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.485." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60251, "action": "close", "object": "Storage Furniture", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60253", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.619, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60253, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60256", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.459, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.943, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60256, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60257", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.870, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.367, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60257, "action": "close", "object": "Storage Furniture", "frame_index": 222, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60291", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.392, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.952]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60291, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60292", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 2.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60292, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60294", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.409, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.880]). The trajectory involves 5 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60294, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60295", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60295, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60296", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.606, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60296, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60298", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.237, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60298, "action": "close", "object": "Storage Furniture", "frame_index": 95, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60299", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.532, 1.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.237, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60299, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60300", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.422, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 1.976]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60300, "action": "open", "object": "Storage Furniture", "frame_index": 171, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60303", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.628, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60303, "action": "close", "object": "Storage Furniture", "frame_index": 196, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60304", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.197, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60304, "action": "close", "object": "Storage Furniture", "frame_index": 198, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60306", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.479, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.476." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60306, "action": "close", "object": "Storage Furniture", "frame_index": 202, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60317", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.557, 1.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60317, "action": "close", "object": "Storage Furniture", "frame_index": 106, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60318", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.568, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60318, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60319", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.274]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60319, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60332", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.714, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.318, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60332, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60334", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.707, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.289, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60334, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60335", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.705, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.306, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.565." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60335, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60338", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.556, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.390, 1.129]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60338, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60344", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.777, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.553." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60344, "action": "close", "object": "Storage Furniture", "frame_index": 229, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60345", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.770, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60345, "action": "close", "object": "Storage Furniture", "frame_index": 231, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60376", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.729, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.254, 1.267]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60376, "action": "close", "object": "Storage Furniture", "frame_index": 77, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60377", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.734, 1.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.275, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60377, "action": "close", "object": "Storage Furniture", "frame_index": 79, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60378", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.733, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.303, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60378, "action": "close", "object": "Storage Furniture", "frame_index": 81, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60380", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.658, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 0.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60380, "action": "close", "object": "Storage Furniture", "frame_index": 85, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60383", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.477, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60383, "action": "close", "object": "Storage Furniture", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60386", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00186.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60386, "action": "open", "object": "Storage Furniture", "frame_index": 186, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60387", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.263, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60387, "action": "open", "object": "Storage Furniture", "frame_index": 188, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60388", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.294, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60388, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60389", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.297, 1.185]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.699]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60389, "action": "open", "object": "Storage Furniture", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60390", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.596, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.219, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60390, "action": "close", "object": "Storage Furniture", "frame_index": 214, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60391", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.203, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60391, "action": "close", "object": "Storage Furniture", "frame_index": 216, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60392", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.551, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60392, "action": "close", "object": "Storage Furniture", "frame_index": 218, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60395", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.652, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.498]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60395, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60396", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.644, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60396, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60397", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.649, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.430." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60397, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60401", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 1.055]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60401, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60402", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.022]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60402, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60405", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.592, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 0.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60405, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60406", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.575, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 0.942]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60406, "action": "close", "object": "Storage Furniture", "frame_index": 107, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60407", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.549, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.004]). The trajectory involves 5 precise waypoints with total movement distance of 0.268." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60407, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60413", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.575, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60413, "action": "close", "object": "Storage Furniture", "frame_index": 210, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60417", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.389, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60417, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60419", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.467, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.910]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60419, "action": "open", "object": "Storage Furniture", "frame_index": 66, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60420", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.469, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.898]). The trajectory involves 5 precise waypoints with total movement distance of 0.684." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60420, "action": "open", "object": "Storage Furniture", "frame_index": 68, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60421", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 2.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.794." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60421, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60422", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.742, 1.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.528." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60422, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60425", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.546." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60425, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60427", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.535, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 1.271]). The trajectory involves 5 precise waypoints with total movement distance of 0.436." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60427, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60433", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.483, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 2.001]). The trajectory involves 5 precise waypoints with total movement distance of 0.753." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60433, "action": "open", "object": "Storage Furniture", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60436", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.827, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.385, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.571." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60436, "action": "close", "object": "Storage Furniture", "frame_index": 226, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60473", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.556, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.204, 1.238]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60473, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60474", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.167, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60474, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60475", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.139, 1.117]). The trajectory involves 5 precise waypoints with total movement distance of 0.621." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60475, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60477", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00104.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.135, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60477, "action": "close", "object": "Storage Furniture", "frame_index": 104, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60482", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60482, "action": "close", "object": "Storage Furniture", "frame_index": 113, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60483", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.327, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.612." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60483, "action": "open", "object": "Storage Furniture", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60484", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 1.721]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60484, "action": "open", "object": "Storage Furniture", "frame_index": 208, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60485", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.344, 1.224]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60485, "action": "open", "object": "Storage Furniture", "frame_index": 210, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60486", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.801]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60486, "action": "open", "object": "Storage Furniture", "frame_index": 212, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60487", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.351, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60487, "action": "open", "object": "Storage Furniture", "frame_index": 214, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60488", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.376, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.412." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60488, "action": "open", "object": "Storage Furniture", "frame_index": 216, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60489", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.526, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.164, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60489, "action": "close", "object": "Storage Furniture", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60490", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.486, 1.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.149, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60490, "action": "close", "object": "Storage Furniture", "frame_index": 240, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60491", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.456, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.182, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.522." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60491, "action": "close", "object": "Storage Furniture", "frame_index": 242, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60492", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.419, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.222, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60492, "action": "close", "object": "Storage Furniture", "frame_index": 244, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60494", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00247.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.346, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.240, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.407." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60494, "action": "close", "object": "Storage Furniture", "frame_index": 247, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60498", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.725]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60498, "action": "open", "object": "Storage Furniture", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60510", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.510, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60510, "action": "close", "object": "Storage Furniture", "frame_index": 243, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60516", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.557, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.068, 1.990]). The trajectory involves 5 precise waypoints with total movement distance of 0.881." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60516, "action": "open", "object": "Storage Furniture", "frame_index": 82, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60517", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.600, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.142, 1.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.860." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60517, "action": "open", "object": "Storage Furniture", "frame_index": 84, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60518", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.550, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.172, 2.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.944." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60518, "action": "open", "object": "Storage Furniture", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60519", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.675." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60519, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60520", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.776, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.284, 1.087]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60520, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60525", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.781, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60525, "action": "close", "object": "Storage Furniture", "frame_index": 230, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60526", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.280, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60526, "action": "close", "object": "Storage Furniture", "frame_index": 232, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60527", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.760, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.289, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60527, "action": "close", "object": "Storage Furniture", "frame_index": 234, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60552", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.372, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60552, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60554", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.399, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.833, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60554, "action": "open", "object": "Storage Furniture", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60556", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.367, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 1.948]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60556, "action": "open", "object": "Storage Furniture", "frame_index": 71, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60557", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.292, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 2.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.675." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60557, "action": "open", "object": "Storage Furniture", "frame_index": 73, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60558", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.597, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.212, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60558, "action": "close", "object": "Storage Furniture", "frame_index": 95, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60559", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.592, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.317]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60559, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60563", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.422, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.942]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60563, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60564", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.955]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60564, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60565", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.416, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 1.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.678." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60565, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60567", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.659, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.271, 1.267]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60567, "action": "close", "object": "Storage Furniture", "frame_index": 227, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60577", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.609, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60577, "action": "open", "object": "Storage Furniture", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60578", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60578, "action": "open", "object": "Storage Furniture", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60764", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s04_T4/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s04_T4/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s04_T4/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.748, 1.000]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60764, "action": "open", "object": "Storage Furniture", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60793", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.872, 2.189]). The trajectory involves 5 precise waypoints with total movement distance of 0.837." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60793, "action": "open", "object": "Storage Furniture", "frame_index": 98, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60796", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00122.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00123.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.706, 1.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60796, "action": "close", "object": "Storage Furniture", "frame_index": 123, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60797", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00123.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00124.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00125.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.671, 1.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.340, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.576." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60797, "action": "close", "object": "Storage Furniture", "frame_index": 125, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60798", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.633, 1.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60798, "action": "close", "object": "Storage Furniture", "frame_index": 127, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60799", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.576, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.159]). The trajectory involves 5 precise waypoints with total movement distance of 0.517." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60799, "action": "close", "object": "Storage Furniture", "frame_index": 129, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60800", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00129.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00130.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00131.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.486." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60800, "action": "close", "object": "Storage Furniture", "frame_index": 131, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60818", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s05_T4/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s05_T4/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s05_T4/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.502, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60818, "action": "open", "object": "Storage Furniture", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_60851", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s03_T3/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s03_T3/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s03_T3/align_rgb/00122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.542, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 0.872]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60851, "action": "close", "object": "Storage Furniture", "frame_index": 122, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60863", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.730, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.301, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60863, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60864", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.722, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60864, "action": "close", "object": "Storage Furniture", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60871", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.397, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 2.351]). The trajectory involves 5 precise waypoints with total movement distance of 1.009." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60871, "action": "open", "object": "Storage Furniture", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60874", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.376, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.074, 2.658]). The trajectory involves 5 precise waypoints with total movement distance of 1.418." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60874, "action": "open", "object": "Storage Furniture", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60876", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.804, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.640." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60876, "action": "close", "object": "Storage Furniture", "frame_index": 239, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60877", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00241.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.803, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60877, "action": "close", "object": "Storage Furniture", "frame_index": 241, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60878", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.744, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.293, 1.091]). The trajectory involves 5 precise waypoints with total movement distance of 0.700." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60878, "action": "close", "object": "Storage Furniture", "frame_index": 243, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60879", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.744, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.303, 1.105]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60879, "action": "close", "object": "Storage Furniture", "frame_index": 245, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60888", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s01_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s01_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s01_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.748, 1.129]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 0.854]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60888, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60958", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s05_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s05_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s05_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60958, "action": "open", "object": "Storage Furniture", "frame_index": 75, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_60974", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s03_T3/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s03_T3/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s03_T3/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.671, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 0.861]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60974, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer", "Door" ] } }, { "id": "hoi4d_60984", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.865, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 2.332]). The trajectory involves 5 precise waypoints with total movement distance of 1.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60984, "action": "open", "object": "Storage Furniture", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60987", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.818, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.015, 2.297]). The trajectory involves 5 precise waypoints with total movement distance of 1.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60987, "action": "open", "object": "Storage Furniture", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60991", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.291, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 0.922]). The trajectory involves 5 precise waypoints with total movement distance of 0.937." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60991, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60992", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 0.959]). The trajectory involves 5 precise waypoints with total movement distance of 0.640." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60992, "action": "close", "object": "Storage Furniture", "frame_index": 111, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60995", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.897, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 2.266]). The trajectory involves 5 precise waypoints with total movement distance of 1.104." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60995, "action": "open", "object": "Storage Furniture", "frame_index": 208, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60996", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.892, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.272, 2.313]). The trajectory involves 5 precise waypoints with total movement distance of 1.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60996, "action": "open", "object": "Storage Furniture", "frame_index": 210, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60997", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.881, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.139, 2.360]). The trajectory involves 5 precise waypoints with total movement distance of 1.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60997, "action": "open", "object": "Storage Furniture", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_60998", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.895, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.106, 2.370]). The trajectory involves 5 precise waypoints with total movement distance of 1.295." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 60998, "action": "open", "object": "Storage Furniture", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61008", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61008, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61017", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00246.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00248.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.516, 1.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.532, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61017, "action": "close", "object": "Storage Furniture", "frame_index": 248, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61024", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.511, 1.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.515, 0.927]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61024, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61026", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.517, 1.183]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 0.865]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61026, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61047", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s03_T3/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s03_T3/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s03_T3/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.819, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61047, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61060", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.791, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 2.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.974." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61060, "action": "open", "object": "Storage Furniture", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61065", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.240, 1.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.675." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61065, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61066", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.250, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61066, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61067", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.252, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61067, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61069", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.380, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61069, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61070", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.444, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61070, "action": "close", "object": "Storage Furniture", "frame_index": 111, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61072", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.593, 1.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61072, "action": "close", "object": "Storage Furniture", "frame_index": 115, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61088", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s01_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s01_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61088, "action": "open", "object": "Storage Furniture", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61091", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.458, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61091, "action": "open", "object": "Storage Furniture", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61104", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.426, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61104, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61108", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.493, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61108, "action": "open", "object": "Storage Furniture", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61151", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s02_T2/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s02_T2/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s02_T2/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.344, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.849, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.753." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61151, "action": "close", "object": "Storage Furniture", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61233", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.481, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.885, 2.525]). The trajectory involves 5 precise waypoints with total movement distance of 1.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61233, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61236", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.918, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 0.787]). The trajectory involves 5 precise waypoints with total movement distance of 0.677." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61236, "action": "close", "object": "Storage Furniture", "frame_index": 95, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61237", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.929, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 0.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61237, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61238", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.902, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 0.726]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61238, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61239", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.877, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 0.696]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61239, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61241", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.465, 1.131]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 2.316]). The trajectory involves 5 precise waypoints with total movement distance of 1.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61241, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61242", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.572, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.960, 2.078]). The trajectory involves 5 precise waypoints with total movement distance of 0.955." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61242, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61246", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.748, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.725, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61246, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61256", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.663, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.686]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61256, "action": "open", "object": "Storage Furniture", "frame_index": 187, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61269", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00043.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.669, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61269, "action": "open", "object": "Storage Furniture", "frame_index": 43, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61274", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.733, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.020." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61274, "action": "close", "object": "Storage Furniture", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61277", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.565, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61277, "action": "close", "object": "Storage Furniture", "frame_index": 107, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61278", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.161]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61278, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61297", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00038.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.432, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 2.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.815." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61297, "action": "open", "object": "Storage Furniture", "frame_index": 38, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61298", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.418, 1.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 2.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61298, "action": "open", "object": "Storage Furniture", "frame_index": 40, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61299", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.386, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 2.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61299, "action": "open", "object": "Storage Furniture", "frame_index": 42, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61301", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.659, 1.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.416." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61301, "action": "close", "object": "Storage Furniture", "frame_index": 79, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61302", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61302, "action": "close", "object": "Storage Furniture", "frame_index": 84, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61303", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.651, 1.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61303, "action": "close", "object": "Storage Furniture", "frame_index": 89, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61304", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.639, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.427." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61304, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61307", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.366, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.451." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61307, "action": "close", "object": "Storage Furniture", "frame_index": 100, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61308", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.589, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.390, 1.106]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61308, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61309", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00132.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00134.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.522, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 2.064]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61309, "action": "open", "object": "Storage Furniture", "frame_index": 134, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61310", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.476, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61310, "action": "open", "object": "Storage Furniture", "frame_index": 141, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61311", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00146.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00148.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 2.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61311, "action": "open", "object": "Storage Furniture", "frame_index": 148, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61312", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00153.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00155.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.532, 1.975]). The trajectory involves 5 precise waypoints with total movement distance of 0.555." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61312, "action": "open", "object": "Storage Furniture", "frame_index": 155, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61313", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.473, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61313, "action": "open", "object": "Storage Furniture", "frame_index": 162, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61314", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.479, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.607, 2.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.650." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61314, "action": "open", "object": "Storage Furniture", "frame_index": 164, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61315", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.509, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 2.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61315, "action": "open", "object": "Storage Furniture", "frame_index": 166, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61316", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00166.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00168.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.530, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.777." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61316, "action": "open", "object": "Storage Furniture", "frame_index": 168, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61317", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00170.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.510, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.831, 2.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.875." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61317, "action": "open", "object": "Storage Furniture", "frame_index": 170, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61321", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.475, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.874, 1.860]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61321, "action": "open", "object": "Storage Furniture", "frame_index": 178, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61328", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00235.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.435, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.126, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.409." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61328, "action": "close", "object": "Storage Furniture", "frame_index": 235, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61329", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.395, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.136, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61329, "action": "close", "object": "Storage Furniture", "frame_index": 237, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61332", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.351, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.241, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61332, "action": "close", "object": "Storage Furniture", "frame_index": 243, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61334", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.388, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61334, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61335", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00007.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00008.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00009.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.378, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61335, "action": "open", "object": "Storage Furniture", "frame_index": 9, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61337", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00027.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.432, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61337, "action": "open", "object": "Storage Furniture", "frame_index": 27, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61338", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.473, 1.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.465, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61338, "action": "open", "object": "Storage Furniture", "frame_index": 36, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61340", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00040.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.446, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61340, "action": "open", "object": "Storage Furniture", "frame_index": 40, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61342", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.367, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61342, "action": "close", "object": "Storage Furniture", "frame_index": 72, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61343", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.360, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.369, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61343, "action": "close", "object": "Storage Furniture", "frame_index": 77, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61345", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.379, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.387, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61345, "action": "close", "object": "Storage Furniture", "frame_index": 87, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61346", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.333, 1.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61346, "action": "close", "object": "Storage Furniture", "frame_index": 89, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61347", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.335, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61347, "action": "close", "object": "Storage Furniture", "frame_index": 90, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61355", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00143.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00144.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00145.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.489, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61355, "action": "open", "object": "Storage Furniture", "frame_index": 145, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61357", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00147.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00148.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00149.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.453, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61357, "action": "open", "object": "Storage Furniture", "frame_index": 149, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61362", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00157.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00158.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00159.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.473, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61362, "action": "open", "object": "Storage Furniture", "frame_index": 159, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61397", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.380, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.911, 2.199]). The trajectory involves 5 precise waypoints with total movement distance of 1.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61397, "action": "open", "object": "Storage Furniture", "frame_index": 57, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61404", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.317, 1.412]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61404, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61406", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.279, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61406, "action": "close", "object": "Storage Furniture", "frame_index": 116, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61409", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00121.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00122.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.452, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.228, 0.977]). The trajectory involves 5 precise waypoints with total movement distance of 0.422." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61409, "action": "close", "object": "Storage Furniture", "frame_index": 122, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61421", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.443, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61421, "action": "open", "object": "Storage Furniture", "frame_index": 206, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61423", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.428, 1.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61423, "action": "open", "object": "Storage Furniture", "frame_index": 210, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61424", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.433, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61424, "action": "open", "object": "Storage Furniture", "frame_index": 212, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61425", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.435, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.834, 1.758]). The trajectory involves 5 precise waypoints with total movement distance of 0.646." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61425, "action": "open", "object": "Storage Furniture", "frame_index": 214, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61426", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.442, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.717]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61426, "action": "open", "object": "Storage Furniture", "frame_index": 216, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61427", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.445, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.589." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61427, "action": "open", "object": "Storage Furniture", "frame_index": 218, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61432", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00268.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00269.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00270.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.668, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61432, "action": "close", "object": "Storage Furniture", "frame_index": 270, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61433", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00269.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00270.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00271.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61433, "action": "close", "object": "Storage Furniture", "frame_index": 271, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61442", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.504, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61442, "action": "close", "object": "Storage Furniture", "frame_index": 78, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61447", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61447, "action": "close", "object": "Storage Furniture", "frame_index": 107, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61456", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00184.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.591, 1.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61456, "action": "open", "object": "Storage Furniture", "frame_index": 184, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61457", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.586, 1.228]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61457, "action": "open", "object": "Storage Furniture", "frame_index": 185, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61458", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.500, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61458, "action": "close", "object": "Storage Furniture", "frame_index": 217, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61460", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.488, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.478, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61460, "action": "close", "object": "Storage Furniture", "frame_index": 232, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61467", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.277, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 1.940]). The trajectory involves 5 precise waypoints with total movement distance of 0.657." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61467, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61468", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00010.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00011.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00012.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.267, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 1.922]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61468, "action": "open", "object": "Storage Furniture", "frame_index": 12, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61471", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.482, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.983, 2.062]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61471, "action": "open", "object": "Storage Furniture", "frame_index": 48, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61472", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.492, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.051, 2.090]). The trajectory involves 5 precise waypoints with total movement distance of 1.012." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61472, "action": "open", "object": "Storage Furniture", "frame_index": 50, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61473", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.482, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.044, 1.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61473, "action": "open", "object": "Storage Furniture", "frame_index": 52, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61474", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.949, 1.880]). The trajectory involves 5 precise waypoints with total movement distance of 0.836." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61474, "action": "open", "object": "Storage Furniture", "frame_index": 54, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61475", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.336, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.898, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.797." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61475, "action": "open", "object": "Storage Furniture", "frame_index": 56, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61476", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.318, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.922, 1.778]). The trajectory involves 5 precise waypoints with total movement distance of 0.774." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61476, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61477", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.319, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.894, 1.708]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61477, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61493", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.502, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.978, 2.067]). The trajectory involves 5 precise waypoints with total movement distance of 0.847." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61493, "action": "open", "object": "Storage Furniture", "frame_index": 181, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61494", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00181.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00182.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00183.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.515, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.038, 2.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.894." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61494, "action": "open", "object": "Storage Furniture", "frame_index": 183, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61495", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.555, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.141, 2.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.904." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61495, "action": "open", "object": "Storage Furniture", "frame_index": 185, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61496", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.510, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.136, 2.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.931." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61496, "action": "open", "object": "Storage Furniture", "frame_index": 187, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61497", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.485, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.135, 2.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.948." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61497, "action": "open", "object": "Storage Furniture", "frame_index": 188, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61501", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.592, 1.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.271, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61501, "action": "close", "object": "Storage Furniture", "frame_index": 233, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61512", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.401, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61512, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61513", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00006.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00007.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00008.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.384, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61513, "action": "open", "object": "Storage Furniture", "frame_index": 8, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61539", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00178.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.629, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.443]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61539, "action": "open", "object": "Storage Furniture", "frame_index": 178, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61540", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00180.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.604, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61540, "action": "open", "object": "Storage Furniture", "frame_index": 180, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61546", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.487, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.482, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61546, "action": "close", "object": "Storage Furniture", "frame_index": 226, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61562", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.480, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.145]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61562, "action": "close", "object": "Storage Furniture", "frame_index": 78, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61563", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.455, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61563, "action": "close", "object": "Storage Furniture", "frame_index": 83, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61564", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.464, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61564, "action": "close", "object": "Storage Furniture", "frame_index": 88, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61565", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.490, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61565, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61566", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.521, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61566, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61580", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00009.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00010.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00011.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.228, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.824]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61580, "action": "open", "object": "Storage Furniture", "frame_index": 11, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61582", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00031.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00032.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00033.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.266, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.986]). The trajectory involves 5 precise waypoints with total movement distance of 0.581." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61582, "action": "open", "object": "Storage Furniture", "frame_index": 33, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61583", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.863]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61583, "action": "open", "object": "Storage Furniture", "frame_index": 44, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61584", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.359, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.885]). The trajectory involves 5 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61584, "action": "open", "object": "Storage Furniture", "frame_index": 46, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61585", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.336, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.657, 1.828]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61585, "action": "open", "object": "Storage Furniture", "frame_index": 48, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61586", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.344, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61586, "action": "open", "object": "Storage Furniture", "frame_index": 50, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61587", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.324, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.755]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61587, "action": "open", "object": "Storage Furniture", "frame_index": 52, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61588", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00053.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00054.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.302, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.757]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61588, "action": "open", "object": "Storage Furniture", "frame_index": 54, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61589", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 1.837]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61589, "action": "open", "object": "Storage Furniture", "frame_index": 56, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61590", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.295, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.806]). The trajectory involves 5 precise waypoints with total movement distance of 0.567." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61590, "action": "open", "object": "Storage Furniture", "frame_index": 58, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61591", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.316, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.741]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61591, "action": "open", "object": "Storage Furniture", "frame_index": 60, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61592", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.336, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.721, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.432." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61592, "action": "open", "object": "Storage Furniture", "frame_index": 62, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61593", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.325, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.663, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.387." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61593, "action": "open", "object": "Storage Furniture", "frame_index": 64, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61609", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.453, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61609, "action": "open", "object": "Storage Furniture", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61611", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.838." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61611, "action": "open", "object": "Storage Furniture", "frame_index": 198, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61612", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.496, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.943, 1.958]). The trajectory involves 5 precise waypoints with total movement distance of 0.861." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61612, "action": "open", "object": "Storage Furniture", "frame_index": 200, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61613", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.466, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.908, 1.977]). The trajectory involves 5 precise waypoints with total movement distance of 0.871." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61613, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61615", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.451, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.839, 1.867]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61615, "action": "open", "object": "Storage Furniture", "frame_index": 206, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61616", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.447, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.848, 1.819]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61616, "action": "open", "object": "Storage Furniture", "frame_index": 208, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61619", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00253.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.616, 1.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.645." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61619, "action": "close", "object": "Storage Furniture", "frame_index": 253, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61636", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61636, "action": "close", "object": "Storage Furniture", "frame_index": 94, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61637", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.438, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.433, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61637, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61639", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.454, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61639, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61640", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.496, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61640, "action": "close", "object": "Storage Furniture", "frame_index": 115, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61651", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00227.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.538, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61651, "action": "close", "object": "Storage Furniture", "frame_index": 227, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61667", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.475, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.293]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61667, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61681", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61681, "action": "close", "object": "Storage Furniture", "frame_index": 231, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61717", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 2.016]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61717, "action": "open", "object": "Storage Furniture", "frame_index": 198, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61719", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.370, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 2.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61719, "action": "open", "object": "Storage Furniture", "frame_index": 202, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61737", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.289, 1.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61737, "action": "close", "object": "Storage Furniture", "frame_index": 96, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61739", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.352, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.377, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61739, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61750", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00231.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.435, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.449, 1.257]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61750, "action": "close", "object": "Storage Furniture", "frame_index": 231, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61865", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.067, 1.917]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61865, "action": "close", "object": "Storage Furniture", "frame_index": 115, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61867", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00120.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00121.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.070, 1.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.574." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61867, "action": "close", "object": "Storage Furniture", "frame_index": 121, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61869", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.203, 1.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61869, "action": "close", "object": "Storage Furniture", "frame_index": 127, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61870", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.220, 1.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61870, "action": "close", "object": "Storage Furniture", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61873", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00133.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00135.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.417, 1.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61873, "action": "close", "object": "Storage Furniture", "frame_index": 135, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61874", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00137.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.474, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.695, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.356." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61874, "action": "close", "object": "Storage Furniture", "frame_index": 137, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61875", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.539, 1.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61875, "action": "close", "object": "Storage Furniture", "frame_index": 139, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61876", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00139.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00140.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00141.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.567, 1.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.483]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61876, "action": "close", "object": "Storage Furniture", "frame_index": 141, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61879", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.674, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 2.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61879, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61880", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.698, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 2.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.843." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61880, "action": "open", "object": "Storage Furniture", "frame_index": 196, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61882", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.731, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 2.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.800." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61882, "action": "open", "object": "Storage Furniture", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61883", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.758, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 2.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.858." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61883, "action": "open", "object": "Storage Furniture", "frame_index": 210, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61884", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.743, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.219, 2.195]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61884, "action": "open", "object": "Storage Furniture", "frame_index": 212, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61885", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.724, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.200, 2.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.815." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61885, "action": "open", "object": "Storage Furniture", "frame_index": 214, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61887", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.104, 2.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.817." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61887, "action": "open", "object": "Storage Furniture", "frame_index": 218, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61888", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.121, 1.912]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.657, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61888, "action": "close", "object": "Storage Furniture", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61897", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.765, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.530]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61897, "action": "open", "object": "Storage Furniture", "frame_index": 42, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61898", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.716, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61898, "action": "open", "object": "Storage Furniture", "frame_index": 44, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61900", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00046.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00048.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61900, "action": "open", "object": "Storage Furniture", "frame_index": 48, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61922", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00233.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.480, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.235]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61922, "action": "close", "object": "Storage Furniture", "frame_index": 233, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61930", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.665, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61930, "action": "open", "object": "Storage Furniture", "frame_index": 45, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61938", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00162.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00163.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00164.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.720, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61938, "action": "open", "object": "Storage Furniture", "frame_index": 164, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61948", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00244.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.873, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61948, "action": "close", "object": "Storage Furniture", "frame_index": 244, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61949", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00243.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00245.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.869, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61949, "action": "close", "object": "Storage Furniture", "frame_index": 245, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_61951", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00010.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00011.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00012.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.503, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.993, 2.165]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61951, "action": "open", "object": "Storage Furniture", "frame_index": 12, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61952", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00022.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00023.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00024.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.493, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.962, 2.184]). The trajectory involves 5 precise waypoints with total movement distance of 1.040." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61952, "action": "open", "object": "Storage Furniture", "frame_index": 24, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61953", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00036.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.475, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.877, 2.270]). The trajectory involves 5 precise waypoints with total movement distance of 1.148." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61953, "action": "open", "object": "Storage Furniture", "frame_index": 36, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61959", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.872, 1.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61959, "action": "close", "object": "Storage Furniture", "frame_index": 87, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61960", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.880, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.118]). The trajectory involves 5 precise waypoints with total movement distance of 0.958." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61960, "action": "close", "object": "Storage Furniture", "frame_index": 91, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61965", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.955, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.673, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.951." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61965, "action": "close", "object": "Storage Furniture", "frame_index": 108, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61966", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.983, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 0.978]). The trajectory involves 5 precise waypoints with total movement distance of 0.937." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61966, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61967", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.037, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.001]). The trajectory involves 5 precise waypoints with total movement distance of 0.832." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61967, "action": "close", "object": "Storage Furniture", "frame_index": 112, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61979", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.972, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.182]). The trajectory involves 5 precise waypoints with total movement distance of 0.787." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61979, "action": "close", "object": "Storage Furniture", "frame_index": 212, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61980", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.977, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.785." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61980, "action": "close", "object": "Storage Furniture", "frame_index": 218, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61983", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.033, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61983, "action": "close", "object": "Storage Furniture", "frame_index": 232, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_61984", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.077, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 61984, "action": "close", "object": "Storage Furniture", "frame_index": 234, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62002", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.109]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62002, "action": "close", "object": "Storage Furniture", "frame_index": 106, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62011", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.602, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62011, "action": "open", "object": "Storage Furniture", "frame_index": 205, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62018", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.379, 1.976]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62018, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62019", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00007.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00008.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00009.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.597, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 2.002]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62019, "action": "open", "object": "Storage Furniture", "frame_index": 9, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62020", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00017.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00018.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00019.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.578, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 2.114]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62020, "action": "open", "object": "Storage Furniture", "frame_index": 19, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62021", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00027.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00028.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.710, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 2.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.749." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62021, "action": "open", "object": "Storage Furniture", "frame_index": 28, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62044", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.130, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.147]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62044, "action": "close", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62045", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.089, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.694, 1.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62045, "action": "close", "object": "Storage Furniture", "frame_index": 209, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62063", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.691, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.654, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62063, "action": "open", "object": "Storage Furniture", "frame_index": 49, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62065", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62065, "action": "open", "object": "Storage Furniture", "frame_index": 53, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62067", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.549, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62067, "action": "close", "object": "Storage Furniture", "frame_index": 88, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62068", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.561, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62068, "action": "close", "object": "Storage Furniture", "frame_index": 95, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62069", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.325]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62069, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62070", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00109.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.668, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62070, "action": "close", "object": "Storage Furniture", "frame_index": 109, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62071", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.719, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.743, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62071, "action": "close", "object": "Storage Furniture", "frame_index": 116, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62072", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00116.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00117.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00118.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.729, 1.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.757, 1.397]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62072, "action": "close", "object": "Storage Furniture", "frame_index": 118, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62073", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00118.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00119.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00120.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.745, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.778, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62073, "action": "close", "object": "Storage Furniture", "frame_index": 120, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62083", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.824, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.736]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62083, "action": "open", "object": "Storage Furniture", "frame_index": 199, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62084", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.793, 1.269]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.751, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62084, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62094", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.721, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 2.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62094, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62095", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00008.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00009.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00010.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.711, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 2.156]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62095, "action": "open", "object": "Storage Furniture", "frame_index": 10, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62096", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00018.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00019.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00020.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.797, 1.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 2.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.674." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62096, "action": "open", "object": "Storage Furniture", "frame_index": 20, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62103", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00049.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00050.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.895, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.249, 2.413]). The trajectory involves 5 precise waypoints with total movement distance of 1.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62103, "action": "open", "object": "Storage Furniture", "frame_index": 50, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62110", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00098.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.138, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.758, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62110, "action": "close", "object": "Storage Furniture", "frame_index": 98, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62111", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00102.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.163, 1.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.829, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.895." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62111, "action": "close", "object": "Storage Furniture", "frame_index": 102, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62113", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.247, 1.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.840, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.821." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62113, "action": "close", "object": "Storage Furniture", "frame_index": 110, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62114", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.222, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.178]). The trajectory involves 5 precise waypoints with total movement distance of 0.776." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62114, "action": "close", "object": "Storage Furniture", "frame_index": 115, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62130", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [2.104, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 2.315]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62130, "action": "open", "object": "Storage Furniture", "frame_index": 192, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62131", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [2.057, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 2.270]). The trajectory involves 5 precise waypoints with total movement distance of 1.002." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62131, "action": "open", "object": "Storage Furniture", "frame_index": 194, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62139", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00242.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00243.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.318, 1.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62139, "action": "close", "object": "Storage Furniture", "frame_index": 243, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62140", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.895, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62140, "action": "close", "object": "Storage Furniture", "frame_index": 246, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62141", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00247.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00248.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00249.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.382, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.868, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62141, "action": "close", "object": "Storage Furniture", "frame_index": 249, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62143", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00252.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00254.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.384, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.571." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62143, "action": "close", "object": "Storage Furniture", "frame_index": 254, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62144", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.451, 1.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.812, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.533." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62144, "action": "close", "object": "Storage Furniture", "frame_index": 256, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62202", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00000.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.459, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.457, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62202, "action": "open", "object": "Storage Furniture", "frame_index": 0, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62204", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00016.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00017.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00018.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62204, "action": "open", "object": "Storage Furniture", "frame_index": 18, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62205", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00025.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00026.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00027.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.852, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.876, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62205, "action": "open", "object": "Storage Furniture", "frame_index": 27, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62206", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00035.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00036.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00037.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.798, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.809, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62206, "action": "open", "object": "Storage Furniture", "frame_index": 37, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62207", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00039.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.658]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62207, "action": "open", "object": "Storage Furniture", "frame_index": 39, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62208", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.759, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.666]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62208, "action": "open", "object": "Storage Furniture", "frame_index": 41, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62215", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.807, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62215, "action": "close", "object": "Storage Furniture", "frame_index": 93, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62216", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.812, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62216, "action": "close", "object": "Storage Furniture", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62217", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62217, "action": "close", "object": "Storage Furniture", "frame_index": 99, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62218", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.776, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62218, "action": "close", "object": "Storage Furniture", "frame_index": 101, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62219", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.760, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62219, "action": "close", "object": "Storage Furniture", "frame_index": 103, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62220", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00103.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00105.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.805, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.774, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62220, "action": "close", "object": "Storage Furniture", "frame_index": 105, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62223", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.933, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.935, 0.820]). The trajectory involves 5 precise waypoints with total movement distance of 0.012." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62223, "action": "close", "object": "Storage Furniture", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62230", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00164.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00165.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00166.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.900, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62230, "action": "open", "object": "Storage Furniture", "frame_index": 166, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62231", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.863, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.518]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62231, "action": "open", "object": "Storage Furniture", "frame_index": 171, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62232", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00171.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00173.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.834, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62232, "action": "open", "object": "Storage Furniture", "frame_index": 173, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62233", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.848, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62233, "action": "open", "object": "Storage Furniture", "frame_index": 175, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62234", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00176.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00177.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.837, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.857, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62234, "action": "open", "object": "Storage Furniture", "frame_index": 177, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62235", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.814, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62235, "action": "open", "object": "Storage Furniture", "frame_index": 179, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62236", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00179.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00180.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00181.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.797, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.813, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62236, "action": "open", "object": "Storage Furniture", "frame_index": 181, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62240", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00225.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00226.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.820, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.788, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62240, "action": "close", "object": "Storage Furniture", "frame_index": 226, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62241", "task": "close the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.283]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62241, "action": "close", "object": "Storage Furniture", "frame_index": 230, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62254", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00037.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00038.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00039.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.630, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.259, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62254, "action": "open", "object": "Storage Furniture", "frame_index": 39, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62255", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.673, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 2.043]). The trajectory involves 5 precise waypoints with total movement distance of 0.814." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62255, "action": "open", "object": "Storage Furniture", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62261", "task": "close the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.929, 1.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.706." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62261, "action": "close", "object": "Storage Furniture", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62276", "task": "open the door of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.128, 2.180]). The trajectory involves 5 precise waypoints with total movement distance of 1.039." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62276, "action": "open", "object": "Storage Furniture", "frame_index": 190, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Door" ] } }, { "id": "hoi4d_62298", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.670, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 1.798]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62298, "action": "open", "object": "Storage Furniture", "frame_index": 57, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62299", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.664, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.611, 1.819]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62299, "action": "open", "object": "Storage Furniture", "frame_index": 59, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62300", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.663, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.804]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62300, "action": "open", "object": "Storage Furniture", "frame_index": 61, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62301", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.644, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 1.750]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62301, "action": "open", "object": "Storage Furniture", "frame_index": 63, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62302", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.592, 1.752]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62302, "action": "open", "object": "Storage Furniture", "frame_index": 65, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62304", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.597, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.225." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62304, "action": "open", "object": "Storage Furniture", "frame_index": 69, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62326", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.781, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.818]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62326, "action": "open", "object": "Storage Furniture", "frame_index": 201, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62327", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.775, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.779]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62327, "action": "open", "object": "Storage Furniture", "frame_index": 203, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62328", "task": "open the drawer of the cabinet body in the storage furniture.", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.740, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62328, "action": "open", "object": "Storage Furniture", "frame_index": 204, "data_source": "manual", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Cabinet", "Drawer" ] } }, { "id": "hoi4d_62547", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N25_S19_s02_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N25_S19_s02_T2/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N25_S19_s02_T2/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [2.009, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.028, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62547, "action": "open", "object": "Laptop", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_62878", "task": "open the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.716, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.174]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62878, "action": "open", "object": "Laptop", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_62900", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00150.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00151.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00152.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.720, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.699, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62900, "action": "close", "object": "Laptop", "frame_index": 152, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_62902", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00154.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00155.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00156.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.721, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62902, "action": "close", "object": "Laptop", "frame_index": 156, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_62905", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00160.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00161.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00162.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.711, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.520]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 62905, "action": "close", "object": "Laptop", "frame_index": 162, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Keyboard", "Screen" ] } }, { "id": "hoi4d_63045", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [0.806, 0.969]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.831, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 63045, "action": "close", "object": "Laptop", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_63046", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [0.891, 0.962]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.916, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 63046, "action": "close", "object": "Laptop", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_63050", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.398, 1.001]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.308]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 63050, "action": "close", "object": "Laptop", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_63051", "task": "close the laptop", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the laptop?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.550, 1.004]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 63051, "action": "close", "object": "Laptop", "frame_index": 113, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Screen", "Keyboard" ] } }, { "id": "hoi4d_64108", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N48_S54_s03_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N48_S54_s03_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N48_S54_s03_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.678, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.693]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64108, "action": "putdown", "object": "Mug", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64159", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.412, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.227, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 1.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64159, "action": "carry", "object": "Mug", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64171", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.349, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.674, 2.439]). The trajectory involves 5 precise waypoints with total movement distance of 1.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64171, "action": "carry", "object": "Mug", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64189", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00138.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00139.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.733, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.573]). The trajectory involves 5 precise waypoints with total movement distance of 0.312." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64189, "action": "carry", "object": "Mug", "frame_index": 139, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64197", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00175.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.683, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.667, 1.606]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64197, "action": "putdown", "object": "Mug", "frame_index": 175, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64233", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T1/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T1/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T1/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.690, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64233, "action": "carry", "object": "Mug", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64261", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.441, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.822." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64261, "action": "carry", "object": "Mug", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64263", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.440, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.871." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64263, "action": "carry", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64269", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.464, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 1.002." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64269, "action": "carry", "object": "Mug", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64284", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.420, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.288, 2.462]). The trajectory involves 5 precise waypoints with total movement distance of 2.149." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64284, "action": "carry", "object": "Mug", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64285", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.075, 2.338]). The trajectory involves 5 precise waypoints with total movement distance of 1.920." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64285, "action": "carry", "object": "Mug", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64287", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.423, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.100, 2.434]). The trajectory involves 5 precise waypoints with total movement distance of 1.969." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64287, "action": "carry", "object": "Mug", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64329", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.725, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64329, "action": "putdown", "object": "Mug", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64330", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.719, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.704]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64330, "action": "putdown", "object": "Mug", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64333", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.721, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.789]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64333, "action": "putdown", "object": "Mug", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64334", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.722, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.728, 1.789]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64334, "action": "putdown", "object": "Mug", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64414", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.495, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 1.683]). The trajectory involves 5 precise waypoints with total movement distance of 0.812." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64414, "action": "carry", "object": "Mug", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64428", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.357, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.041, 1.969]). The trajectory involves 5 precise waypoints with total movement distance of 0.824." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64428, "action": "carry", "object": "Mug", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64464", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.616, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.632, 1.340]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64464, "action": "putdown", "object": "Mug", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64472", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.643, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.633, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64472, "action": "putdown", "object": "Mug", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64479", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00237.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.645, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64479, "action": "putdown", "object": "Mug", "frame_index": 237, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64510", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T1/align_rgb/00191.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.709, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64510, "action": "carry", "object": "Mug", "frame_index": 191, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64533", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.415, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.247, 1.838]). The trajectory involves 5 precise waypoints with total movement distance of 1.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64533, "action": "carry", "object": "Mug", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64536", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.408, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.192, 1.823]). The trajectory involves 5 precise waypoints with total movement distance of 1.266." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64536, "action": "carry", "object": "Mug", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64547", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.415, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.863, 2.487]). The trajectory involves 5 precise waypoints with total movement distance of 1.761." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64547, "action": "carry", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64548", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.832, 2.485]). The trajectory involves 5 precise waypoints with total movement distance of 1.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64548, "action": "carry", "object": "Mug", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64549", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.473, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.865, 2.472]). The trajectory involves 5 precise waypoints with total movement distance of 1.703." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64549, "action": "carry", "object": "Mug", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64566", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.450, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.276, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 1.193." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64566, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64568", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.456, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.113, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 1.384." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64568, "action": "carry", "object": "Mug", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64574", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00094.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.452, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 1.153." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64574, "action": "carry", "object": "Mug", "frame_index": 94, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64575", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.452, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 1.007." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64575, "action": "carry", "object": "Mug", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64581", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.331, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.691, 2.229]). The trajectory involves 5 precise waypoints with total movement distance of 1.603." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64581, "action": "carry", "object": "Mug", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64585", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.315, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.700, 2.205]). The trajectory involves 5 precise waypoints with total movement distance of 1.605." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64585, "action": "carry", "object": "Mug", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64645", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.712, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64645, "action": "carry", "object": "Mug", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64656", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00229.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00230.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.671, 1.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64656, "action": "putdown", "object": "Mug", "frame_index": 230, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64661", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.675, 1.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.668, 1.858]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64661, "action": "putdown", "object": "Mug", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64662", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.668, 1.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64662, "action": "putdown", "object": "Mug", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64697", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.528, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.762, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64697, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64701", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.520, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.987." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64701, "action": "carry", "object": "Mug", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64716", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.523, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.788, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64716, "action": "carry", "object": "Mug", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64732", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00250.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00251.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00252.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.388, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.768]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64732, "action": "putdown", "object": "Mug", "frame_index": 252, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64762", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.271, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.238, 1.769]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64762, "action": "putdown", "object": "Mug", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64763", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.269, 1.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.235, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64763, "action": "putdown", "object": "Mug", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64764", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.302, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.728]). The trajectory involves 5 precise waypoints with total movement distance of 0.224." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64764, "action": "putdown", "object": "Mug", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64770", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.271, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.245, 1.749]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64770, "action": "putdown", "object": "Mug", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64792", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.523, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.523, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64792, "action": "pickup", "object": "Mug", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64794", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.521, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.397]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64794, "action": "pickup", "object": "Mug", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64820", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.584, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.830]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64820, "action": "putdown", "object": "Mug", "frame_index": 127, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64835", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.488, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 1.239." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64835, "action": "carry", "object": "Mug", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64848", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.342, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.105, 2.703]). The trajectory involves 5 precise waypoints with total movement distance of 2.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64848, "action": "carry", "object": "Mug", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64849", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00194.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.347, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.013, 2.635]). The trajectory involves 5 precise waypoints with total movement distance of 2.068." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64849, "action": "carry", "object": "Mug", "frame_index": 194, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64850", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00196.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.355, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.885, 2.513]). The trajectory involves 5 precise waypoints with total movement distance of 1.890." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64850, "action": "carry", "object": "Mug", "frame_index": 196, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64879", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N40_S213_s05_T5/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N40_S213_s05_T5/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N40_S213_s05_T5/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.967, 2.419]). The trajectory involves 5 precise waypoints with total movement distance of 1.862." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64879, "action": "carry", "object": "Mug", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64888", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00058.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.546, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64888, "action": "carry", "object": "Mug", "frame_index": 58, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64896", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64896, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64899", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.621, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.986, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64899, "action": "carry", "object": "Mug", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64900", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.982, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64900, "action": "carry", "object": "Mug", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_64901", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.635, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.995, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 64901, "action": "carry", "object": "Mug", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65126", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.173, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.509." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65126, "action": "carry", "object": "Mug", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65127", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.171, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65127, "action": "carry", "object": "Mug", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65162", "task": "pick up the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00045.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00046.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.419, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.079." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65162, "action": "pickup", "object": "Mug", "frame_index": 46, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65164", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65164, "action": "carry", "object": "Mug", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65184", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.649, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65184, "action": "carry", "object": "Mug", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65185", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.632, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65185, "action": "carry", "object": "Mug", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65188", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00198.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.596, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.469]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65188, "action": "carry", "object": "Mug", "frame_index": 198, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65189", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65189, "action": "carry", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65199", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00239.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00240.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.323, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.526]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65199, "action": "putdown", "object": "Mug", "frame_index": 240, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65338", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65338, "action": "carry", "object": "Mug", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65340", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.094." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65340, "action": "carry", "object": "Mug", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65375", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00061.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.147, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65375, "action": "carry", "object": "Mug", "frame_index": 61, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65378", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.266, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.830, 1.711]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65378, "action": "carry", "object": "Mug", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65387", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.842, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.269, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65387, "action": "carry", "object": "Mug", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65388", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00185.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00187.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.786, 1.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.224, 1.708]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65388, "action": "carry", "object": "Mug", "frame_index": 187, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65401", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00039.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00041.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.272, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.000, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65401, "action": "carry", "object": "Mug", "frame_index": 41, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65425", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.384, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65425, "action": "carry", "object": "Mug", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65428", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.403, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65428, "action": "carry", "object": "Mug", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65435", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.453, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65435, "action": "carry", "object": "Mug", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65583", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.340, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.073, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65583, "action": "carry", "object": "Mug", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65584", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.338, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.073, 1.398]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65584, "action": "carry", "object": "Mug", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65587", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.294, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.037, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65587, "action": "carry", "object": "Mug", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65625", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00050.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00052.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.406, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65625, "action": "carry", "object": "Mug", "frame_index": 52, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65658", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.043, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.530]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65658, "action": "carry", "object": "Mug", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65662", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00208.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.054, 1.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.216, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65662, "action": "carry", "object": "Mug", "frame_index": 208, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65680", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00167.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00168.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00169.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.224, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.276, 1.373]). The trajectory involves 5 precise waypoints with total movement distance of 1.061." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65680, "action": "carry", "object": "Mug", "frame_index": 169, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65681", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00169.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00170.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00171.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.231, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.262, 1.283]). The trajectory involves 5 precise waypoints with total movement distance of 1.045." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65681, "action": "carry", "object": "Mug", "frame_index": 171, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65691", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00059.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00060.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [2.006, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.298, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65691, "action": "carry", "object": "Mug", "frame_index": 60, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65713", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00195.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00196.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00197.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [2.103, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65713, "action": "carry", "object": "Mug", "frame_index": 197, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65724", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.405, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.620." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65724, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65732", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.916, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65732, "action": "carry", "object": "Mug", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65753", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N30_S213_s03_T4/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S213_s03_T4/align_rgb/00189.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N30_S213_s03_T4/align_rgb/00190.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.198, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.254, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 1.077." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65753, "action": "carry", "object": "Mug", "frame_index": 190, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65863", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00177.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00178.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00179.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.528, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65863, "action": "putdown", "object": "Mug", "frame_index": 179, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65866", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00183.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00184.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00185.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.536, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.606]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65866, "action": "putdown", "object": "Mug", "frame_index": 185, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65870", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00192.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00193.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.548, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.737]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65870, "action": "putdown", "object": "Mug", "frame_index": 193, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65943", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00190.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00191.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00192.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.207, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.228, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 1.025." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65943, "action": "carry", "object": "Mug", "frame_index": 192, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_65956", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.338, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 65956, "action": "carry", "object": "Mug", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66165", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N25_S213_s02_T4/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N25_S213_s02_T4/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N25_S213_s02_T4/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.929, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.300, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66165, "action": "carry", "object": "Mug", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66188", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N24_S214_s04_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N24_S214_s04_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N24_S214_s04_T1/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.378, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.019, 1.481]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66188, "action": "carry", "object": "Mug", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66350", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N22_S93_s05_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N22_S93_s05_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N22_S93_s05_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.820, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66350, "action": "carry", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66400", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N22_S213_s01_T3/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N22_S213_s01_T3/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N22_S213_s01_T3/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.452, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.799]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66400, "action": "putdown", "object": "Mug", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66562", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.595, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.030, 2.401]). The trajectory involves 5 precise waypoints with total movement distance of 1.690." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66562, "action": "carry", "object": "Mug", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66569", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00236.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00238.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.658, 1.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.343." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66569, "action": "putdown", "object": "Mug", "frame_index": 238, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66749", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N16_S93_s02_T1/align_rgb/00186.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N16_S93_s02_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N16_S93_s02_T1/align_rgb/00188.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66749, "action": "carry", "object": "Mug", "frame_index": 188, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66786", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N16_S212_s04_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N16_S212_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N16_S212_s04_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.529, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66786, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66859", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.351, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66859, "action": "carry", "object": "Mug", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66860", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.353, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.669." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66860, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66881", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N15_S212_s04_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N15_S212_s04_T2/align_rgb/00092.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N15_S212_s04_T2/align_rgb/00093.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.393, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 0.868." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66881, "action": "carry", "object": "Mug", "frame_index": 93, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66899", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00040.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00041.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00042.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.680, 0.979]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 0.904]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66899, "action": "carry", "object": "Mug", "frame_index": 42, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66903", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.338, 0.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.019]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66903, "action": "putdown", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66909", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00136.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00137.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00138.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.400, 0.931]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.854, 1.006]). The trajectory involves 5 precise waypoints with total movement distance of 0.553." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66909, "action": "carry", "object": "Mug", "frame_index": 138, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66927", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.395, 0.929]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 1.017]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66927, "action": "carry", "object": "Mug", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66928", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00174.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00175.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00176.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.408, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 0.999]). The trajectory involves 5 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66928, "action": "carry", "object": "Mug", "frame_index": 176, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66940", "task": "put down the mug", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the mug?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.472, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66940, "action": "putdown", "object": "Mug", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66972", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T1/align_rgb/00172.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T1/align_rgb/00173.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T1/align_rgb/00174.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.419, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66972, "action": "carry", "object": "Mug", "frame_index": 174, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_66994", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.419, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.692." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 66994, "action": "carry", "object": "Mug", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67000", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67000, "action": "carry", "object": "Mug", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67001", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.455, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.866." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67001, "action": "carry", "object": "Mug", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67005", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.480, 1.175]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.765." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67005, "action": "carry", "object": "Mug", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67007", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.484, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.786, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.721." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67007, "action": "carry", "object": "Mug", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67012", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.522, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.932, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67012, "action": "carry", "object": "Mug", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67062", "task": "carry Mug to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N13_S214_s03_T1/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N13_S214_s03_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N13_S214_s03_T1/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.060, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.726." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67062, "action": "carry", "object": "Mug", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67079", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.498, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 1.418]). The trajectory involves 5 precise waypoints with total movement distance of 0.925." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67079, "action": "carry", "object": "Mug", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67084", "task": "carry Mug to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Mug to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.553, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.927." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67084, "action": "carry", "object": "Mug", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Mug" ] } }, { "id": "hoi4d_67164", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.948, 1.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67164, "action": "carry", "object": "Stapler", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67167", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.414, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.981, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67167, "action": "carry", "object": "Stapler", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67169", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.388, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.839, 1.238]). The trajectory involves 5 precise waypoints with total movement distance of 0.586." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67169, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67172", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.380, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.876, 1.284]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67172, "action": "carry", "object": "Stapler", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67196", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.807, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.180, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.447." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67196, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67199", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.896, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.513." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67199, "action": "carry", "object": "Stapler", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67200", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.991, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67200, "action": "carry", "object": "Stapler", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67249", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.706, 1.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67249, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67257", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00193.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00194.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00195.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.489, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.925, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67257, "action": "carry", "object": "Stapler", "frame_index": 195, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67260", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.425, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.906, 1.409]). The trajectory involves 5 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67260, "action": "carry", "object": "Stapler", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67262", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.378, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.859, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.534." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67262, "action": "carry", "object": "Stapler", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_67273", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.058, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 1.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67273, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67274", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.044, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67274, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67283", "task": "pick up the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00187.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00188.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00189.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.617, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.569, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67283, "action": "pickup", "object": "Stapler", "frame_index": 189, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67286", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.562, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.889, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.695." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67286, "action": "carry", "object": "Stapler", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67291", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.048, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.065, 1.768]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67291, "action": "putdown", "object": "Stapler", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67298", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N46_S202_s03_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N46_S202_s03_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N46_S202_s03_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.453, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.914, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.578." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67298, "action": "carry", "object": "Stapler", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67314", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.030, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.742, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67314, "action": "carry", "object": "Stapler", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67324", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.546, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.820, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.777." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67324, "action": "carry", "object": "Stapler", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67382", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.100, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67382, "action": "carry", "object": "Stapler", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67385", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.580, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.059, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67385, "action": "carry", "object": "Stapler", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_67387", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.028, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.543." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67387, "action": "carry", "object": "Stapler", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67406", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.950, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67406, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67417", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.054, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67417, "action": "carry", "object": "Stapler", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67421", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.850, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67421, "action": "carry", "object": "Stapler", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_67422", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.512, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 1.415]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67422, "action": "carry", "object": "Stapler", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67449", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N41_S147_s04_T1/align_rgb/00223.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N41_S147_s04_T1/align_rgb/00224.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N41_S147_s04_T1/align_rgb/00225.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.778, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.090, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67449, "action": "carry", "object": "Stapler", "frame_index": 225, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_67509", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.076, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67509, "action": "carry", "object": "Stapler", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67512", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.108, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.746, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67512, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67524", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00200.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.662, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.970, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.724." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67524, "action": "carry", "object": "Stapler", "frame_index": 200, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67535", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N38_S394_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N38_S394_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N38_S394_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.685, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.088, 1.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.604." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67535, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base" ] } }, { "id": "hoi4d_67557", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N37_S147_s03_T1/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N37_S147_s03_T1/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N37_S147_s03_T1/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.567, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.877." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67557, "action": "carry", "object": "Stapler", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_67564", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.013, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67564, "action": "carry", "object": "Stapler", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67565", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.012, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.328]). The trajectory involves 5 precise waypoints with total movement distance of 0.661." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67565, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67603", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.188, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67603, "action": "carry", "object": "Stapler", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67610", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.777, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.753]). The trajectory involves 5 precise waypoints with total movement distance of 0.259." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67610, "action": "putdown", "object": "Stapler", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67616", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.102, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.641." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67616, "action": "carry", "object": "Stapler", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_67639", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N32_S147_s02_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N32_S147_s02_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N32_S147_s02_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.529, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.020, 1.116]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67639, "action": "carry", "object": "Stapler", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67648", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.042, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.671, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67648, "action": "carry", "object": "Stapler", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67649", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.049, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67649, "action": "carry", "object": "Stapler", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67650", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.070, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.862, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.797." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67650, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67677", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.751, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.732, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67677, "action": "putdown", "object": "Stapler", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_67679", "task": "put down the stapler", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the stapler?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.732, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67679, "action": "putdown", "object": "Stapler", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67726", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.903, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67726, "action": "carry", "object": "Stapler", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67727", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.447, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.900, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.574." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67727, "action": "carry", "object": "Stapler", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67728", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.444, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.878, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67728, "action": "carry", "object": "Stapler", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67738", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00096.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.416, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.873, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.564." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67738, "action": "carry", "object": "Stapler", "frame_index": 96, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67764", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S202_s01_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S202_s01_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S202_s01_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.379, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.784." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67764, "action": "carry", "object": "Stapler", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67782", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.127, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 1.484]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67782, "action": "carry", "object": "Stapler", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67783", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.141, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.760, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.626." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67783, "action": "carry", "object": "Stapler", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67784", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.186, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.814, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67784, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67785", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.224, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67785, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67793", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00210.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.671, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.128, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67793, "action": "carry", "object": "Stapler", "frame_index": 210, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67794", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.625, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.078, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.555." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67794, "action": "carry", "object": "Stapler", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67797", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.536, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.021, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.518." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67797, "action": "carry", "object": "Stapler", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67834", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.439, 1.659]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.893, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67834, "action": "carry", "object": "Stapler", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67838", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.426, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.836, 1.424]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67838, "action": "carry", "object": "Stapler", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67839", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.404, 1.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.819, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67839, "action": "carry", "object": "Stapler", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67842", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.377, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.811, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67842, "action": "carry", "object": "Stapler", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67845", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.398, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.853, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67845, "action": "carry", "object": "Stapler", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67846", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.402, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.862, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.551." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67846, "action": "carry", "object": "Stapler", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67874", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.129, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.652." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67874, "action": "carry", "object": "Stapler", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_67876", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.159, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.680." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67876, "action": "carry", "object": "Stapler", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67883", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.662, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.930, 1.073]). The trajectory involves 5 precise waypoints with total movement distance of 0.819." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67883, "action": "carry", "object": "Stapler", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67884", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.641, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.980, 1.122]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67884, "action": "carry", "object": "Stapler", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67930", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.391, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.047, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.402." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67930, "action": "carry", "object": "Stapler", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67938", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.435, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.982, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.470." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67938, "action": "carry", "object": "Stapler", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_67964", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.016, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.704." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67964, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_67974", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.639, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.013, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67974, "action": "carry", "object": "Stapler", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67984", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.416, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.059, 1.446]). The trajectory involves 5 precise waypoints with total movement distance of 0.464." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67984, "action": "carry", "object": "Stapler", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_67990", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00084.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.933, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67990, "action": "carry", "object": "Stapler", "frame_index": 84, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_67993", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.466, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.938, 1.545]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 67993, "action": "carry", "object": "Stapler", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68029", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.491, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.888, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68029, "action": "carry", "object": "Stapler", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68030", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.455, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.781, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68030, "action": "carry", "object": "Stapler", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68034", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00095.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00096.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00097.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.477, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.877, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68034, "action": "carry", "object": "Stapler", "frame_index": 97, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68065", "task": "carry Stapler to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.138, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.771, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.644." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68065, "action": "carry", "object": "Stapler", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Base", "Lid" ] } }, { "id": "hoi4d_68073", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00207.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00208.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00209.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.597, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.053, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68073, "action": "carry", "object": "Stapler", "frame_index": 209, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68083", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.447, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.720, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68083, "action": "carry", "object": "Stapler", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68084", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.443, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68084, "action": "carry", "object": "Stapler", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68089", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.444, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 0.788." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68089, "action": "carry", "object": "Stapler", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68093", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.504, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.947, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68093, "action": "carry", "object": "Stapler", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68117", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.467, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.869, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68117, "action": "carry", "object": "Stapler", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68121", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.808, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68121, "action": "carry", "object": "Stapler", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68122", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.437, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.818, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 0.647." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68122, "action": "carry", "object": "Stapler", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68123", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.422, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.822, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68123, "action": "carry", "object": "Stapler", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68124", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.406, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.799, 1.462]). The trajectory involves 5 precise waypoints with total movement distance of 0.630." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68124, "action": "carry", "object": "Stapler", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68143", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N14_S199_s04_T2/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N14_S199_s04_T2/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N14_S199_s04_T2/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.433, 1.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.953, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68143, "action": "carry", "object": "Stapler", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68178", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N13_S199_s04_T2/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N13_S199_s04_T2/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N13_S199_s04_T2/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.397, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.813, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68178, "action": "carry", "object": "Stapler", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Base" ] } }, { "id": "hoi4d_68222", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.871, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68222, "action": "carry", "object": "Stapler", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68230", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00083.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00085.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.422, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.840." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68230, "action": "carry", "object": "Stapler", "frame_index": 85, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68233", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.818." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68233, "action": "carry", "object": "Stapler", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68238", "task": "carry Stapler to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Stapler to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.474, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.667." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68238, "action": "carry", "object": "Stapler", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid" ] } }, { "id": "hoi4d_68792", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N50_S209_s02_T2/align_rgb/00125.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N50_S209_s02_T2/align_rgb/00126.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N50_S209_s02_T2/align_rgb/00127.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.229, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.222, 1.746]). The trajectory involves 5 precise waypoints with total movement distance of 0.425." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68792, "action": "close", "object": "Trash Can", "frame_index": 127, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_68803", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00066.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.514, 1.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.569, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68803, "action": "open", "object": "Trash Can", "frame_index": 66, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_68812", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00101.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00102.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00103.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.664, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.643, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68812, "action": "close", "object": "Trash Can", "frame_index": 103, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_68852", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N49_S158_s01_T1/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N49_S158_s01_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N49_S158_s01_T1/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.381, 1.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 68852, "action": "open", "object": "Trash Can", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69052", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N46_S158_s01_T1/align_rgb/00244.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N46_S158_s01_T1/align_rgb/00245.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N46_S158_s01_T1/align_rgb/00246.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.779, 1.073]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.678, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69052, "action": "close", "object": "Trash Can", "frame_index": 246, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69103", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.646, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 0.952]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69103, "action": "open", "object": "Trash Can", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69104", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.640, 1.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.743, 0.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69104, "action": "open", "object": "Trash Can", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69134", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00056.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00057.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.470, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69134, "action": "open", "object": "Trash Can", "frame_index": 57, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69151", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.444, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 1.545]). The trajectory involves 5 precise waypoints with total movement distance of 0.077." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69151, "action": "close", "object": "Trash Can", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69163", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.486, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69163, "action": "close", "object": "Trash Can", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69212", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00057.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00058.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00059.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.330, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.339, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69212, "action": "open", "object": "Trash Can", "frame_index": 59, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69217", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.382, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69217, "action": "close", "object": "Trash Can", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69242", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N42_S155_s05_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N42_S155_s05_T1/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N42_S155_s05_T1/align_rgb/00112.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.518, 1.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.418]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69242, "action": "close", "object": "Trash Can", "frame_index": 112, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69321", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N40_S207_s04_T2/align_rgb/00134.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S207_s04_T2/align_rgb/00135.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S207_s04_T2/align_rgb/00136.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.323, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 1.073]). The trajectory involves 5 precise waypoints with total movement distance of 0.371." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69321, "action": "open", "object": "Trash Can", "frame_index": 136, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69372", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.543, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69372, "action": "open", "object": "Trash Can", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69373", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.560, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69373, "action": "open", "object": "Trash Can", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69380", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.658, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.834]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69380, "action": "close", "object": "Trash Can", "frame_index": 255, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69387", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N39_S207_s04_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N39_S207_s04_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N39_S207_s04_T2/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.377, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69387, "action": "open", "object": "Trash Can", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69619", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N33_S333_s01_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N33_S333_s01_T1/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N33_S333_s01_T1/align_rgb/00087.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.652, 1.016]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69619, "action": "close", "object": "Trash Can", "frame_index": 87, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69663", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00073.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.326, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.340, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69663, "action": "open", "object": "Trash Can", "frame_index": 73, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69685", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00234.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00235.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00236.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.388, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69685, "action": "close", "object": "Trash Can", "frame_index": 236, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69842", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00108.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00110.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.443, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.586]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69842, "action": "close", "object": "Trash Can", "frame_index": 110, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69849", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.447, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69849, "action": "open", "object": "Trash Can", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69850", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00213.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.454, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69850, "action": "open", "object": "Trash Can", "frame_index": 213, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69855", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.567, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69855, "action": "close", "object": "Trash Can", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_69881", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N26_S333_s02_T2/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N26_S333_s02_T2/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N26_S333_s02_T2/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.598, 1.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.168]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69881, "action": "open", "object": "Trash Can", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69923", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00111.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00112.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00113.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.641, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.935, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.735." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69923, "action": "carry", "object": "Trash Can", "frame_index": 113, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69924", "task": "carry Trash Can to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.958, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.714." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69924, "action": "carry", "object": "Trash Can", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_69949", "task": "carry Trash Can to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N25_S209_s03_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N25_S209_s03_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N25_S209_s03_T2/align_rgb/00202.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Trash Can to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.435, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.255, 1.698]). The trajectory involves 5 precise waypoints with total movement distance of 0.916." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 69949, "action": "carry", "object": "Trash Can", "frame_index": 202, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_70000", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N24_S367_s01_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N24_S367_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N24_S367_s01_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.560, 0.975]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.555, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70000, "action": "close", "object": "Trash Can", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_70030", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N23_S158_s03_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N23_S158_s03_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N23_S158_s03_T1/align_rgb/00107.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.441, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 1.737]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70030, "action": "close", "object": "Trash Can", "frame_index": 107, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_70154", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N19_S209_s02_T2/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N19_S209_s02_T2/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N19_S209_s02_T2/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.438, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70154, "action": "close", "object": "Trash Can", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_70207", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N19_S158_s02_T1/align_rgb/00253.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N19_S158_s02_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N19_S158_s02_T1/align_rgb/00255.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.318, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.267, 1.804]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70207, "action": "close", "object": "Trash Can", "frame_index": 255, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Body of the Trash Can", "Lid" ] } }, { "id": "hoi4d_70241", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.398, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70241, "action": "open", "object": "Trash Can", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_70267", "task": "open the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: open the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.431, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.476, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70267, "action": "open", "object": "Trash Can", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_70276", "task": "close the trash can", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00254.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00255.jpg", "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00256.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: close the trash can?" }, { "from": "gpt", "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.498, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70276, "action": "close", "object": "Trash Can", "frame_index": 256, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Lid", "Body of the Trash Can" ] } }, { "id": "hoi4d_70335", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.908, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.212, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.753." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70335, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70341", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00079.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.940, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70341, "action": "carry", "object": "Knife", "frame_index": 79, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70426", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.822, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.996, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.872." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70426, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70427", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.834, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.053, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70427, "action": "carry", "object": "Knife", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70458", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N44_S238_s02_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N44_S238_s02_T4/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N44_S238_s02_T4/align_rgb/00070.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.831, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.813, 1.488]). The trajectory involves 5 precise waypoints with total movement distance of 1.048." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70458, "action": "carry", "object": "Knife", "frame_index": 70, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70504", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.924, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.100, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.855." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70504, "action": "carry", "object": "Knife", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70506", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.963, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.035, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.963." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70506, "action": "carry", "object": "Knife", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70548", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N42_S136_s02_T1/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N42_S136_s02_T1/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N42_S136_s02_T1/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.364, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70548, "action": "carry", "object": "Knife", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70556", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00063.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.392, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [4.248, 2.277]). The trajectory involves 5 precise waypoints with total movement distance of 3.062." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70556, "action": "carry", "object": "Knife", "frame_index": 63, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70557", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00064.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00065.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.372, 1.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [4.279, 2.246]). The trajectory involves 5 precise waypoints with total movement distance of 3.109." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70557, "action": "carry", "object": "Knife", "frame_index": 65, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70558", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.381, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [4.234, 2.227]). The trajectory involves 5 precise waypoints with total movement distance of 3.066." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70558, "action": "carry", "object": "Knife", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70569", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00086.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00088.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.413, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.750, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 1.408." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70569, "action": "carry", "object": "Knife", "frame_index": 88, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70588", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N40_S238_s02_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S238_s02_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N40_S238_s02_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.895, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.952, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 1.025." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70588, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70729", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N23_S238_s01_T3/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N23_S238_s01_T3/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N23_S238_s01_T3/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.593, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.555, 1.623]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70729, "action": "putdown", "object": "Knife", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70768", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N22_S238_s01_T3/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N22_S238_s01_T3/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N22_S238_s01_T3/align_rgb/00217.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.723, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.663, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.426." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70768, "action": "putdown", "object": "Knife", "frame_index": 217, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70822", "task": "put down the knife", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N21_S238_s01_T3/align_rgb/00232.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N21_S238_s01_T3/align_rgb/00233.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N21_S238_s01_T3/align_rgb/00234.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the knife?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.619, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70822, "action": "putdown", "object": "Knife", "frame_index": 234, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70968", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.719, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.926, 1.588]). The trajectory involves 5 precise waypoints with total movement distance of 0.811." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70968, "action": "carry", "object": "Knife", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70971", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.648, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.840, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70971, "action": "carry", "object": "Knife", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70973", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.632, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.868." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70973, "action": "carry", "object": "Knife", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_70983", "task": "carry Knife to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.085." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 70983, "action": "carry", "object": "Knife", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_71004", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N16_S179_s04_T4/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N16_S179_s04_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N16_S179_s04_T4/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.765, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 1.724]). The trajectory involves 5 precise waypoints with total movement distance of 1.070." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71004, "action": "carry", "object": "Knife", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_71030", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N15_S179_s04_T4/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N15_S179_s04_T4/align_rgb/00068.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N15_S179_s04_T4/align_rgb/00069.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.744, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.791, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.970." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71030, "action": "carry", "object": "Knife", "frame_index": 69, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_71150", "task": "carry Knife to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C13_N12_S179_s03_T4/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N12_S179_s03_T4/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C13_N12_S179_s03_T4/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Knife to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.745, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.850, 1.398]). The trajectory involves 5 precise waypoints with total movement distance of 0.903." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71150, "action": "carry", "object": "Knife", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Knife" ] } }, { "id": "hoi4d_71268", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00077.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00078.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.315, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71268, "action": "carry", "object": "Kettle", "frame_index": 78, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71270", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00082.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.327, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71270, "action": "carry", "object": "Kettle", "frame_index": 82, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71274", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71274, "action": "carry", "object": "Kettle", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71282", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00104.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00105.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00106.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.847, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71282, "action": "carry", "object": "Kettle", "frame_index": 106, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71283", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.598, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.882, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71283, "action": "carry", "object": "Kettle", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71285", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.652, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71285, "action": "carry", "object": "Kettle", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71320", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00197.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00198.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00199.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.158, 1.937]). The trajectory involves 5 precise waypoints with total movement distance of 1.780." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71320, "action": "carry", "object": "Kettle", "frame_index": 199, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71321", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00199.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00200.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00201.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.542, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.221, 1.964]). The trajectory involves 5 precise waypoints with total movement distance of 1.869." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71321, "action": "carry", "object": "Kettle", "frame_index": 201, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71322", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00201.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00203.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.532, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.223, 1.994]). The trajectory involves 5 precise waypoints with total movement distance of 1.915." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71322, "action": "carry", "object": "Kettle", "frame_index": 203, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71323", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.552, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.233, 2.031]). The trajectory involves 5 precise waypoints with total movement distance of 1.913." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71323, "action": "carry", "object": "Kettle", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71324", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00206.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00207.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.550, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.159, 2.020]). The trajectory involves 5 precise waypoints with total movement distance of 1.841." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71324, "action": "carry", "object": "Kettle", "frame_index": 207, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71332", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N49_S169_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S169_s01_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N49_S169_s01_T1/align_rgb/00100.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.112]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71332, "action": "carry", "object": "Kettle", "frame_index": 100, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71446", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N47_S203_s01_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S203_s01_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S203_s01_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.588, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.774, 1.980]). The trajectory involves 5 precise waypoints with total movement distance of 1.519." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71446, "action": "carry", "object": "Kettle", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71450", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.897, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71450, "action": "carry", "object": "Kettle", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71453", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.612, 1.224]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.894, 1.261]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71453, "action": "carry", "object": "Kettle", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71461", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.764, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.041, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71461, "action": "carry", "object": "Kettle", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71467", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.690, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.228, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.487." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71467, "action": "carry", "object": "Kettle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71489", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.537, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.693, 1.699]). The trajectory involves 5 precise waypoints with total movement distance of 1.280." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71489, "action": "carry", "object": "Kettle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71496", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.627, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.823, 2.073]). The trajectory involves 5 precise waypoints with total movement distance of 1.506." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71496, "action": "carry", "object": "Kettle", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71503", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00091.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.535, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71503, "action": "carry", "object": "Kettle", "frame_index": 91, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71505", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 0.413." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71505, "action": "carry", "object": "Kettle", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71507", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00097.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00098.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00099.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.022, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71507, "action": "carry", "object": "Kettle", "frame_index": 99, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71515", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00211.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00212.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.877, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.839, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71515, "action": "pickup", "object": "Kettle", "frame_index": 212, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71516", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.840, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71516, "action": "carry", "object": "Kettle", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71517", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71517, "action": "carry", "object": "Kettle", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71598", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N44_S165_s05_T1/align_rgb/00109.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N44_S165_s05_T1/align_rgb/00110.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N44_S165_s05_T1/align_rgb/00111.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.557, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.382]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71598, "action": "carry", "object": "Kettle", "frame_index": 111, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71627", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N43_S200_s05_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S200_s05_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S200_s05_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.485, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.659, 1.733]). The trajectory involves 5 precise waypoints with total movement distance of 1.402." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71627, "action": "carry", "object": "Kettle", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71639", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00089.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00090.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.909, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71639, "action": "carry", "object": "Kettle", "frame_index": 90, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71640", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00090.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00091.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00092.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.558, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.918, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71640, "action": "carry", "object": "Kettle", "frame_index": 92, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71648", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00106.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00107.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00108.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.790, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.048, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71648, "action": "carry", "object": "Kettle", "frame_index": 108, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71753", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00065.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00067.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.479, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71753, "action": "carry", "object": "Kettle", "frame_index": 67, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71760", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00080.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00081.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.696, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.023, 1.324]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71760, "action": "carry", "object": "Kettle", "frame_index": 81, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71768", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00115.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00116.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.081, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.070, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71768, "action": "putdown", "object": "Kettle", "frame_index": 116, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71794", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.584, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.984, 2.164]). The trajectory involves 5 precise waypoints with total movement distance of 1.671." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71794, "action": "carry", "object": "Kettle", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71795", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.002, 2.190]). The trajectory involves 5 precise waypoints with total movement distance of 1.727." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71795, "action": "carry", "object": "Kettle", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71806", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N40_S165_s04_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N40_S165_s04_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N40_S165_s04_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.558, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.432." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71806, "action": "carry", "object": "Kettle", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71853", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00212.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00214.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.484, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.671, 1.911]). The trajectory involves 5 precise waypoints with total movement distance of 1.368." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71853, "action": "carry", "object": "Kettle", "frame_index": 214, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71854", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.482, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.638, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 1.354." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71854, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71855", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00216.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00218.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.605, 2.001]). The trajectory involves 5 precise waypoints with total movement distance of 1.356." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71855, "action": "carry", "object": "Kettle", "frame_index": 218, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71883", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N39_S165_s04_T1/align_rgb/00141.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S165_s04_T1/align_rgb/00142.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N39_S165_s04_T1/align_rgb/00143.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.944, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.509]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71883, "action": "putdown", "object": "Kettle", "frame_index": 143, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71975", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00220.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.775, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.106, 2.248]). The trajectory involves 5 precise waypoints with total movement distance of 1.590." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71975, "action": "carry", "object": "Kettle", "frame_index": 220, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71976", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00222.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.785, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.064, 2.140]). The trajectory involves 5 precise waypoints with total movement distance of 1.513." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71976, "action": "carry", "object": "Kettle", "frame_index": 222, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71981", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00230.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00231.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00232.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.764, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.692, 2.069]). The trajectory involves 5 precise waypoints with total movement distance of 1.243." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71981, "action": "carry", "object": "Kettle", "frame_index": 232, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71986", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71986, "action": "carry", "object": "Kettle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71987", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00072.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00074.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.866, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.336." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71987, "action": "carry", "object": "Kettle", "frame_index": 74, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71990", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.000, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71990, "action": "carry", "object": "Kettle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_71993", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00084.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00085.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00086.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.697, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.053, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 71993, "action": "carry", "object": "Kettle", "frame_index": 86, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72012", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.037, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72012, "action": "carry", "object": "Kettle", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72102", "task": "pick up the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00062.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00063.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00064.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.451, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72102, "action": "pickup", "object": "Kettle", "frame_index": 64, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72117", "task": "put down the kettle", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00127.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00128.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00129.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the kettle?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.893, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72117, "action": "putdown", "object": "Kettle", "frame_index": 129, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72132", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00069.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00071.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.536, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.868, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72132, "action": "carry", "object": "Kettle", "frame_index": 71, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72135", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.885, 1.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.338." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72135, "action": "carry", "object": "Kettle", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72138", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00081.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00082.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00083.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.635, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72138, "action": "carry", "object": "Kettle", "frame_index": 83, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72144", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00093.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00094.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00095.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.827, 1.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.109, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72144, "action": "carry", "object": "Kettle", "frame_index": 95, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72180", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00217.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00218.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00219.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.501, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.717, 1.968]). The trajectory involves 5 precise waypoints with total movement distance of 1.500." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72180, "action": "carry", "object": "Kettle", "frame_index": 219, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72185", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.648, 2.102]). The trajectory involves 5 precise waypoints with total movement distance of 1.425." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72185, "action": "carry", "object": "Kettle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72194", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N33_S165_s02_T1/align_rgb/00070.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N33_S165_s02_T1/align_rgb/00071.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N33_S165_s02_T1/align_rgb/00072.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.983, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.394." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72194, "action": "carry", "object": "Kettle", "frame_index": 72, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72306", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.584, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.213, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 1.800." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72306, "action": "carry", "object": "Kettle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72310", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00221.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00222.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00223.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.149]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.985, 1.818]). The trajectory involves 5 precise waypoints with total movement distance of 1.680." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72310, "action": "carry", "object": "Kettle", "frame_index": 223, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72313", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.493, 1.142]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.750, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 1.535." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72313, "action": "carry", "object": "Kettle", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72435", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N29_S200_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N29_S200_s01_T2/align_rgb/00228.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N29_S200_s01_T2/align_rgb/00229.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.662, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.027, 2.635]). The trajectory involves 5 precise waypoints with total movement distance of 1.822." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72435, "action": "carry", "object": "Kettle", "frame_index": 229, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72449", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N29_S165_s01_T1/align_rgb/00087.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N29_S165_s01_T1/align_rgb/00088.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N29_S165_s01_T1/align_rgb/00089.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.432." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72449, "action": "carry", "object": "Kettle", "frame_index": 89, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72502", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N28_S200_s01_T2/align_rgb/00237.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N28_S200_s01_T2/align_rgb/00238.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N28_S200_s01_T2/align_rgb/00239.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.536, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.503, 1.789]). The trajectory involves 5 precise waypoints with total movement distance of 1.040." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72502, "action": "carry", "object": "Kettle", "frame_index": 239, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72518", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N28_S165_s01_T1/align_rgb/00113.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N28_S165_s01_T1/align_rgb/00114.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N28_S165_s01_T1/align_rgb/00115.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.779, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.994, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72518, "action": "carry", "object": "Kettle", "frame_index": 115, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72558", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00213.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00215.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.418, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.573, 1.945]). The trajectory involves 5 precise waypoints with total movement distance of 1.355." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72558, "action": "carry", "object": "Kettle", "frame_index": 215, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72561", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00219.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00220.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00221.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.422, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.495, 1.984]). The trajectory involves 5 precise waypoints with total movement distance of 1.294." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72561, "action": "carry", "object": "Kettle", "frame_index": 221, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72565", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00226.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00227.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00228.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.457, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.304, 1.916]). The trajectory involves 5 precise waypoints with total movement distance of 1.058." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72565, "action": "carry", "object": "Kettle", "frame_index": 228, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72579", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00099.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00100.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00101.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.680, 1.244]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.992, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72579, "action": "carry", "object": "Kettle", "frame_index": 101, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72585", "task": "carry Kettle to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00214.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00215.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00216.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.968, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72585, "action": "carry", "object": "Kettle", "frame_index": 216, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_72629", "task": "carry Kettle to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C12_N26_S165_s01_T1/align_rgb/00078.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N26_S165_s01_T1/align_rgb/00079.jpg", "hoi4d_frame/ZY20210800001_H1_C12_N26_S165_s01_T1/align_rgb/00080.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Kettle to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.467, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.858, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.393." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 72629, "action": "carry", "object": "Kettle", "frame_index": 80, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Kettle" ] } }, { "id": "hoi4d_73109", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00202.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00204.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.878, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.549." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73109, "action": "carry", "object": "Pliers", "frame_index": 204, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_73110", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.315, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.880, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73110, "action": "carry", "object": "Pliers", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_73119", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s01_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s01_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s01_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [0.922, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.501, 1.172]). The trajectory involves 5 precise waypoints with total movement distance of 0.600." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73119, "action": "carry", "object": "Pliers", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_73320", "task": "carry Pliers to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N52_S367_s01_T1/align_rgb/00073.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N52_S367_s01_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N52_S367_s01_T1/align_rgb/00075.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [0.994, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.389." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73320, "action": "carry", "object": "Pliers", "frame_index": 75, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_73965", "task": "pick up the pliers", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00047.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00048.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00049.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the pliers?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.258, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.277, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73965, "action": "pickup", "object": "Pliers", "frame_index": 49, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_73979", "task": "carry Pliers to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00203.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00205.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.964, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73979, "action": "carry", "object": "Pliers", "frame_index": 205, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_73980", "task": "carry Pliers to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00204.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00205.jpg", "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00206.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Pliers to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.951, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.633." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 73980, "action": "carry", "object": "Pliers", "frame_index": 206, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Left Part of the Pliers", "Right Part of the Pliers" ] } }, { "id": "hoi4d_74079", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N50_S106_s03_T1/align_rgb/00074.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N50_S106_s03_T1/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N50_S106_s03_T1/align_rgb/00076.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.794, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74079, "action": "putdown", "object": "Toy Car", "frame_index": 76, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74177", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N44_S99_s02_T2/align_rgb/00066.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N44_S99_s02_T2/align_rgb/00067.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N44_S99_s02_T2/align_rgb/00068.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.471, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.291, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.865." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74177, "action": "carry", "object": "Toy Car", "frame_index": 68, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74260", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N37_S104_s02_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N37_S104_s02_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N37_S104_s02_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.995, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.174, 1.258]). The trajectory involves 5 precise waypoints with total movement distance of 0.860." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74260, "action": "carry", "object": "Toy Car", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74364", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N32_S108_s01_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N32_S108_s01_T2/align_rgb/00044.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N32_S108_s01_T2/align_rgb/00045.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.332, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.766." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74364, "action": "carry", "object": "Toy Car", "frame_index": 45, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74388", "task": "carry Toy Car to the left", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N30_S104_s04_T2/align_rgb/00051.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N30_S104_s04_T2/align_rgb/00052.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N30_S104_s04_T2/align_rgb/00053.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the left?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.590, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.066, 1.479]). The trajectory involves 5 precise waypoints with total movement distance of 0.552." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74388, "action": "carry", "object": "Toy Car", "frame_index": 53, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74455", "task": "put down the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N28_S100_s03_T1/align_rgb/00209.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N28_S100_s03_T1/align_rgb/00210.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N28_S100_s03_T1/align_rgb/00211.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: put down the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.965, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.976, 1.652]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74455, "action": "putdown", "object": "Toy Car", "frame_index": 211, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74489", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N26_S104_s05_T2/align_rgb/00075.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N26_S104_s05_T2/align_rgb/00076.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N26_S104_s05_T2/align_rgb/00077.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.582, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.582, 1.578]). The trajectory involves 5 precise waypoints with total movement distance of 1.074." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74489, "action": "carry", "object": "Toy Car", "frame_index": 77, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74552", "task": "pick up the toy car", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00033.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00034.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00035.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pick up the toy car?" }, { "from": "gpt", "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.472, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.721, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74552, "action": "pickup", "object": "Toy Car", "frame_index": 35, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74553", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00042.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00043.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00044.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.500, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.537, 1.816]). The trajectory involves 5 precise waypoints with total movement distance of 1.070." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74553, "action": "carry", "object": "Toy Car", "frame_index": 44, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74567", "task": "pull Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00240.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00241.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00242.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: pull Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.560, 1.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.611]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74567, "action": "pull", "object": "Toy Car", "frame_index": 242, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74569", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T1/align_rgb/00060.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T1/align_rgb/00061.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T1/align_rgb/00062.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.699, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.253, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.576." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74569, "action": "carry", "object": "Toy Car", "frame_index": 62, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } }, { "id": "hoi4d_74591", "task": "carry Toy Car to the right", "selected_step": 1, "image": [ "hoi4d_frame/ZY20210800001_H1_C1_N19_S100_s02_T2/align_rgb/00054.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N19_S100_s02_T2/align_rgb/00055.jpg", "hoi4d_frame/ZY20210800001_H1_C1_N19_S100_s02_T2/align_rgb/00056.jpg" ], "conversations": [ { "from": "human", "value": " How should I execute this task: carry Toy Car to the right?" }, { "from": "gpt", "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.183, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.285, 1.449]). The trajectory involves 5 precise waypoints with total movement distance of 1.145." } ], "metadata": { "original_dataset": "A0-hoi4d_frame", "hoi4d_id": 74591, "action": "carry", "object": "Toy Car", "frame_index": 56, "data_source": "molmo", "trajectory_length": 5, "coordinate_system": "normalized", "keypoint_parts": [ "Toy Car" ] } } ]