grounding_level stringclasses 4 values | expression_type stringclasses 12 values | db_id stringlengths 24 24 | datasetname stringclasses 4 values | scene_id stringclasses 252 values | scene_name stringclasses 276 values | expressions_cnt_in_annotation_interface int64 0 9 | referring_expressions stringlengths 11 405 | box_width float64 0.01 7.13 | box_length float64 0.01 7.46 | box_height float64 0.01 3.19 | box_x float64 -4.53 4.91 | box_y float64 -4.63 4.49 | box_z float64 -0.09 5.21 | box_rot_angle int64 0 189 | cylinder_diameter float64 0.04 3.7 | cylinder_length float64 0.01 5.61 | cylinder_x float64 -6.72 7.56 | cylinder_y float64 -5.91 6.33 | cylinder_z float64 -5.33 2.54 | cylinder_rot_angle int64 0 327 | window_camera_position_x float64 -13.87 13.7 | window_camera_position_y float64 -13.56 12.5 | window_camera_position_z float64 -2.38 18.8 | window_camera_quaternion_x float64 -0.56 0.79 | window_camera_quaternion_y float64 -0.53 0.8 | window_camera_quaternion_z float64 -0.84 1 | window_camera_quaternion_w float64 -0.5 1 | window_camera_target_x float64 -7.29 6.14 | window_camera_target_y float64 -6.24 7.06 | window_camera_target_z float64 -4.22 4.82 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
part_level | Relationship | 679b3a6dbe08dda333409ba2 | 3RScan | scene0417_00 | ddc7379d-765b-241a-9f0b-50b72d6cd829 | 8 | Locate right half of the bathroom cabinet. | 0.41 | 0.5 | 0.85 | -0.73 | 0.77 | 0.63 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | -1.218271 | -4.654896 | -0.218461 | 0.697872 | 0.014743 | 0.015125 | 0.715911 | -1.401135 | -0.328974 | -0.328974 |
part_level | Relationship | 679b3c87be08dda333409ba3 | 3RScan | scene0446_00 | 0cac758d-8d6f-2d13-8d21-9133668b4d7d | 8 | Facing the large wardrobe, identify the three rightmost columns of it. | 1.53 | 0.66 | 2 | 1.16 | 2.29 | 1.08 | 176 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | -0.342871 | -1.910225 | 4.9058 | 0.383132 | -0.028747 | -0.069078 | 0.920658 | 0.357583 | 2.731226 | 0.242714 |
part_level | Relationship | 679b3de8be08dda333409ba7 | 3RScan | scene0555_00 | 4fbad320-465b-2a5d-85d7-dc83aa09a9fa | 8 | Facing the cabinet that stands over 2 meters, locate its rightmost column. | 0.51 | 0.47 | 2.19 | -1.26 | -2.76 | 3.07 | 1 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | -0.861276 | 3.23981 | 5.371619 | 0.03411 | 0.310383 | 0.944314 | 0.103776 | -1.664021 | -0.368388 | 0.356081 |
part_level | Function | 679b4133be08dda333409ba9 | 3RScan | scene0741_00 | 1d23402c-e280-2b1a-8e31-9a88c9c1fb91 | 9 | Locate the backrest of the large couch. | 1.47 | 0.35 | 0.35 | -0.14 | -1.3 | 0.69 | 174 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 0.113522 | -0.732064 | 1.9848 | 0.010735 | 0.046972 | 0.973735 | 0.22253 | -0.002055 | -0.971726 | -0.766658 |
part_level | Function | 679b446dbe08dda333409baa | 3RScan | scene0986_00 | fcf66d8e-622d-291c-86ef-f8f2b3db7f74 | 8 | Locate the black section in the middle of the tv stand. | 0.5 | 0.52 | 0.23 | -0.634277 | 1.686907 | 0.339861 | 5 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 3.563431 | 1.488337 | -1.200629 | 0.530476 | 0.496925 | 0.469515 | 0.501215 | 0.874113 | 1.664172 | -1.047632 |
part_level | Relationship | 679b4666be08dda333409bab | 3RScan | scene0989_00 | 10b17942-3938-2467-8933-5d40ada6d445 | 9 | Locate the half of the cabinet that is closer to the window. | 0.51 | 0.64 | 1.78 | 1.46 | -0.69 | 1 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 2.926338 | -0.830488 | 5.072646 | 0.158493 | 0.165334 | 0.702696 | 0.673619 | 0.747054 | -0.922609 | 0.693975 |
part_level | Movement | 679b4812be08dda333409bad | 3RScan | scene0992_00 | 38770cb0-86d7-27b8-8466-1782505891fd | 7 | Pull the white drawer at the bottommost level directly below the TV outward by 0.25 meters. | 0.73 | 0.57 | 0.19 | 0.16 | -1.19 | 1.85 | 0 | 0.2 | 0.25 | -0.187657 | -0.881067 | -1.287576 | 0 | 1.450894 | -0.927017 | 1.710286 | 0.209885 | 0.200324 | 0.660739 | 0.692273 | -0.24332 | -0.848 | -0.829698 |
part_level | Movement | 679b49d1be08dda333409baf | 3RScan | scene1017_00 | 5630cfdc-12bf-2860-87b7-c7eab95718be | 8 | Facing the wall behind the bed, pull the upmost white drawer of the nightstand on the left side of the bed by 0.2 meters. | 0.51 | 0.38 | 0.19 | 1.4 | -1.31 | 0.64 | 177 | 0.2 | 0.2 | -0.304147 | -1.275481 | -0.919005 | 177 | -1.113961 | 1.482594 | 2.906859 | 0.025159 | 0.284082 | 0.954733 | 0.084555 | -1.507521 | -0.721877 | -0.522913 |
part_level | Function | 679b4b09be08dda333409bb0 | 3RScan | scene1024_00 | 0cac75e4-8d6f-2d13-8f7c-fb5b5747d1ba | 8 | Identify the layers of the shelf that hold six cubic brown boxes in the corner behind the dining table. | 0.44 | 1.73 | 0.97 | -1.25 | -1.26 | 1.16 | 175 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 0.352143 | -0.296608 | 4.701472 | 0.218746 | 0.224708 | 0.680402 | 0.662352 | -2.746571 | -0.379934 | 0.520281 |
part_level | Relationship | 679b4c77be08dda333409bb1 | 3RScan | scene1057_00 | 634b2183-f5d0-2fb7-87ef-c536720918dc | 8 | Facing the blue curtain, identify the right half of the cabinet beneath it. | 0.5 | 0.64 | 1.1 | -1.86 | 1.43 | 1.66 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 4.898195 | -0.653822 | 2.795058 | 0.47474 | 0.324181 | 0.46143 | 0.67573 | -1.267931 | 1.755799 | 0.409093 |
part_level | Movement | 679b5eb1be08dda333409bb3 | arkitscene_valid | scene0005_00 | 45261185 | 8 | Pull out the top drawer of the cabinet near the mirror in the bedroom by 0.2 meters. | 0.49 | 0.36 | 0.21 | 1.35 | 1.18 | 1.77 | 0 | 0.2 | 0.2 | 3.153043 | 0.78398 | -0.428142 | 90 | 2.481758 | 1.059031 | 1.912939 | 0.105414 | -0.132482 | -0.771219 | 0.613643 | 3.177355 | 0.898659 | -0.103498 |
part_level | Movement | 679b65c9be08dda333409bb5 | arkitscene_valid | scene0040_00 | 44358446 | 7 | Imagine you are sitting on the chair in front of the desk, pull out the bottom drawer of the cabinet in your right hand side by 0.4 meters. | 0.3 | 0.66 | 0.32 | 0.08 | -0.75 | 2.47 | 0 | 0.2 | 0.4 | 2.54171 | -1.809219 | -0.956789 | 0 | 2.604114 | 1.410374 | 0.871744 | 0.006755 | 0.527523 | 0.849444 | 0.010877 | 2.520072 | -1.870673 | -0.751639 |
part_level | Movement | 679b6c5c5288cfc6faef489c | arkitscene_valid | scene0064_00 | 45662942 | 8 | Facing the monitor, pull the drawer in the top right corner of the cabinet outward by 0.3 meters. | 0.63 | 0.49 | 0.19 | -0.13 | -2.54 | 1.1 | 2 | 0.2 | 0.3 | 1.37273 | 2.297686 | -0.245667 | 0 | 0.104849 | 2.653528 | 2.192448 | 0.188567 | -0.206651 | -0.709195 | 0.647132 | 1.514205 | 2.524279 | -0.029848 |
part_level | Movement | 679b75e55288cfc6faef489d | arkitscene_valid | scene0067_00 | 42898521 | 7 | Pull the second drawer of the cabinet directly beneath the stove outward by 0.3 meters. | 0.62 | 0.59 | 0.29 | -1.57 | -0.04 | 1.29 | 0 | 0.2 | 0.3 | -2.378311 | 2.555382 | 0.130233 | 0 | -3.172524 | 3.063122 | 3.524451 | -0.049652 | 0.111023 | 0.906091 | -0.405226 | -2.688115 | 2.629869 | 0.912277 |
part_level | Movement | 679c34f26fe400eae4b33a85 | arkitscene_valid | scene0093_00 | 42899699 | 9 | Pull the first drawer of the cabinet outward by 0.2 meters. | 0.58 | 0.49 | 0.3 | 0.14 | 0.17 | 0.79 | 4 | 0.2 | 0.2 | 2.96 | 0.32 | -0.49 | 2 | 1.080398 | 0.408913 | 0.129138 | 0.403566 | -0.39286 | -0.576386 | 0.592094 | 3.226158 | 0.466613 | -0.713982 |
part_level | Relationship | 679c375c6fe400eae4b33a86 | arkitscene_valid | scene0104_00 | 41125718 | 8 | Locate the bottom drawer of the nightstand. | 0.41 | 0.34 | 0.23 | -2.08 | -1.42 | 0.28 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 0.121578 | -2.884933 | 0.661611 | 0.407884 | 0.439913 | 0.586687 | 0.543972 | -2.457696 | -3.080099 | -0.093455 |
part_level | Movement | 679c38cb6fe400eae4b33a87 | arkitscene_valid | scene0105_00 | 42897599 | 8 | Facing the refrigerator, pull the bottom drawer of the cabinet directly to the right of the large oven by 0.3 meters. | 0.67 | 1.43 | 0.26 | 3.63 | 0.11 | 1.71 | 0 | 0.2 | 0.3 | 4.454124 | 2.831745 | -0.1826 | 90 | 4.427022 | 6.667049 | 0.142335 | 0.040294 | 0.722819 | 0.688792 | 0.038397 | 4.041684 | 3.221601 | 0.309575 |
part_level | Movement | 679c3c6b6fe400eae4b33a88 | arkitscene_valid | scene0126_00 | 42897559 | 9 | Pull the top drawer of the white cabinet in the bedroom out halfway. | 0.8 | 0.48 | 0.24 | -0.605432 | -0.354562 | 0.993289 | 6 | 0.2 | 0.24 | -0.069639 | -0.753039 | -0.06338 | 6 | -1.850672 | -1.116529 | -0.023338 | 0.581126 | -0.464823 | -0.417257 | 0.521659 | 0.161929 | -0.663347 | 0.199803 |
part_level | Movement | 679c3d306fe400eae4b33a89 | arkitscene_valid | scene0133_00 | 47332000 | 9 | Slide the bottom drawer of the cabinet outward by half. | 0.47 | 0.97 | 0.32 | -0.72 | 0.96 | 0.61 | 3 | 0.2 | 0.24 | -1.093541 | 1.547327 | -0.080163 | 93 | -0.827966 | -3.442264 | 0.609604 | 0.660361 | 0.041327 | 0.046833 | 0.748347 | -1.434017 | 1.380815 | 0.000001 |
part_level | Movement | 679c4ac76fe400eae4b33a8a | arkitscene_valid | scene0146_00 | 42899736 | 8 | Slide the second drawer of the cabinet adjacent to the tall wardrobe in the bedroom from the top outward by half. | 0.39 | 0.81 | 0.22 | 1.35 | 2.1 | 0.9 | 0 | 0.2 | 0.2 | -0.301801 | 5.140111 | -0.75371 | 90 | -2.754916 | 4.847324 | 1.628665 | 0.269672 | -0.269672 | -0.653664 | 0.653664 | -0.330043 | 4.847324 | -0.809993 |
part_level | Movement | 679c54826fe400eae4b33a8c | arkitscene_valid | scene0190_00 | 42445029 | 7 | Slide the first drawer of the nightstand outward by 0.2 meters. | 0.4 | 0.52 | 0.22 | -0.47 | 1.32 | 0.59 | 0 | 0.2 | 0.2 | -0.6 | 3.61 | -0.47 | 0 | -0.282896 | 3.568462 | 3.918948 | 0.123857 | 0.055392 | 0.404481 | 0.904426 | -1.031474 | 4.237987 | 0.320888 |
part_level | Movement | 679c57316fe400eae4b33a8d | arkitscene_valid | scene0210_00 | 42897688 | 8 | Pull the bottom drawer outward by 0.2 meters of the cabinet positioned on the floor beneath the painting near the window. | 0.43 | 0.86 | 0.26 | 2.3 | 0.71 | 1.06 | 0 | 0.2 | 0.2 | 4.69003 | -0.537443 | -0.213283 | 90 | 2.92208 | -0.727115 | 2.078588 | 0.250587 | -0.252803 | -0.663697 | 0.657878 | 4.937272 | -0.744859 | -0.183003 |
part_level | Movement | 679c58d76fe400eae4b33a8e | arkitscene_valid | scene0206_00 | 42898538 | 8 | Sitting on the chair, pull the second drawer from the right-hand side cabinet of the table outward by 0.2 meters. | 0.4 | 0.26 | 0.14 | -1.93 | 0.5 | 0.78 | 6 | 0.1 | 0.2 | -3.8 | 2.64 | 0.02 | 95 | -1.819438 | 2.806113 | -0.040736 | 0.46017 | 0.46194 | 0.537151 | 0.535092 | -4.061302 | 2.797503 | -0.380194 |
part_level | Function | 679c59a06fe400eae4b33a8f | arkitscene_valid | scene0195_00 | 47331068 | 8 | Locate the half of the cabinet under the sink whose door opens to the right. | 0.23 | 0.26 | 0.69 | -0.41 | -0.41 | 0.46 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | -1.115059 | 0.894538 | 0.528838 | -0.089573 | 0.626099 | 0.766775 | -0.109699 | -0.485775 | -1.259731 | 0.070831 |
part_level | Movement | 679c5c3a6fe400eae4b33a90 | arkitscene_valid | scene0228_00 | 45261575 | 8 | Slide the top drawer of the cabinet beneath the tv outward by half. | 0.65 | 0.39 | 0.23 | -0.72 | 0.38 | 0.8 | 0 | 0.2 | 0.2 | -2.962319 | -0.092877 | -0.694802 | 0 | -1.8348 | -0.043477 | 2.803572 | 0.130548 | 0.117813 | 0.65953 | 0.730819 | -2.841952 | 0.060077 | 0.060077 |
part_level | Movement | 679c5e9a6fe400eae4b33a91 | arkitscene_valid | scene0237_00 | 44358582 | 8 | Facing the cabinet by the door, slide the drawer in the upper right corner of the cabinet outward by 0.25 meters. | 0.36 | 0.49 | 0.21 | 0.22 | 1.32 | 1.18 | 0 | 0.1 | 0.25 | 2.3 | 0.24 | -0.59 | 0 | 2.179828 | 0.105306 | 2.851251 | 0.068343 | 0.001161 | 0.016943 | 0.997517 | 2.165716 | 0.520624 | -0.167198 |
part_level | Relationship | 679c61146fe400eae4b33a94 | arkitscene_valid | scene0249_00 | 42445441 | 8 | Choose the seating section closer to the window from the sofa. | 0.95 | 1.05 | 0.82 | -0.621175 | -1.472668 | 0.513794 | 7 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | -2.286881 | 1.357127 | 5.5378 | -0.012377 | 0.257609 | 0.965057 | -0.046365 | -2.003701 | -1.583156 | 0.399121 |
part_level | Movement | 679c641e6fe400eae4b33a97 | arkitscene_valid | scene0281_00 | 45663115 | 9 | Pull the first drawer of the cabinet out halfway. | 0.2 | 0.38 | 0.16 | -0.11 | 0.55 | 0.64 | 2 | 0.1 | 0.19 | 2.67 | 0.88 | -0.62 | 0 | 1.948363 | 0.811242 | 0.265532 | 0.285238 | -0.25315 | -0.613617 | 0.691395 | 2.819474 | 0.915448 | -0.616778 |
part_level | Function | 679c661c6fe400eae4b33a98 | arkitscene_valid | scene0298_00 | 47332885 | 8 | Identify the half whose door opens to the left from the cabinet closest to the door. | 0.36 | 0.31 | 0.62 | -0.02 | -1.09 | 0.53 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 3.141972 | 3.086174 | 5.047036 | 0.035362 | 0.269265 | 0.954223 | 0.125315 | 2.379377 | 0.232829 | 0.230447 |
part_level | Function | 679c678a6fe400eae4b33a99 | arkitscene_valid | scene0304_00 | 41125760 | 8 | Identify the toilet tank. | 0.35 | 0.15 | 0.42 | 0.59 | -2.04 | 0.73 | 0 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 4.060413 | 0.214475 | 0.175736 | 0.341188 | 0.622771 | 0.617496 | 0.338299 | -0.198602 | -2.505849 | 0.218724 |
part_level | Movement | 679c68726fe400eae4b33a9a | arkitscene_valid | scene0301_00 | 45261632 | 8 | Slide the top drawer from the nightstand closest to the window outward by half. | 0.38 | 0.38 | 0.2 | 1.58 | 1.78 | 0.76 | 5 | 0.1 | 0.19 | 2.718163 | 4.068928 | -0.705091 | 94 | 2.676383 | 4.28128 | 0.984549 | -0.000503 | 0.034015 | 0.999312 | -0.014778 | 2.680379 | 4.146225 | -0.997894 |
part_level | Function | 679c69fb6fe400eae4b33a9b | arkitscene_valid | scene0319_00 | 42897566 | 9 | Choose the section with the light yellow stripes from the stool. | 1.14 | 0.54 | 0.15 | -0.37 | 1.29 | 0.64 | 4 | 0.4 | 0.5 | 0 | 0 | 0 | 0 | 0.127101 | -0.727582 | -0.293072 | 0.729621 | 0.015414 | 0.01444 | 0.683526 | 0.009019 | 2.065832 | -0.110482 |
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