item_id int64 60k 65.6k | source stringlengths 93 118 | duration int64 162 707 | task_descs stringlengths 18 106 | question stringlengths 92 181 | narrations listlengths 4 14 | num_turns int64 5 32 | turns listlengths 5 32 | distractor stringlengths 25 77 ⌀ | num_distractor_narrations int64 1 5 ⌀ |
|---|---|---|---|---|---|---|---|---|---|
60,311 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190918_143430_997524 | 502 | Place sliced lettuce into a bin. | What's the robot's progress on placing sliced lettuce into a bin? Please answer with a number from 0 to 100. | [
"Turn left, move to the counter in front of the dishwasher.",
"Pick up the knife, from the counter, that is near the bread.",
"Turn left, move to in front of the refrigerator.",
"Slice the lettuce in the refrigerator.",
"Move to in front of the refrigerator.",
"Put the knife in the refrigerator.",
"Move... | 23 | [
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"images": [
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190918_143430_997524/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-Garb... | null | null |
65,479 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114656_768805 | 325 | Chill a pan and put it on a counter. | What's the robot's progress on placing the pan on the stove and then put a potato in the pan? Please answer with a number from 0 to 100. | [
"Walk around the kitchen counter to the stove on your left.",
"Grab a pan from the stove.",
"Walk to the front of the fridge on your left.",
"Place the pan in the fridge, then grab it.",
"Walk to the kitchen counter between the fridge and stove.",
"Place the pan on the counter."
] | 7 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 18,
"images": [
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114656_768805/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190... | Place the pan on the stove and then put a potato in the pan. | 2 |
65,529 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Tomato-None-GarbageCan-10/trial_T20190908_225453_272533 | 364 | Place a cooked tomato in a trash can | What's the robot's progress on placing the tomato in the bowl? Please answer with a number from 0 to 100. | [
"Turn around and walk to the dishwasher that is on your right",
"Pick up the tomato that is sitting on the counter above the dishwasher.",
"Turn to the right and walk to the stove, turn left to face the stove",
"Open the microwave and place the tomato in the microwave above the stove and then close the microw... | 7 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Tomato-None-GarbageCan-10/trial_T20190908_225453_272533/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Tomato-None-GarbageCan-10/trial_... | Place the tomato in the bowl. | 2 |
65,387 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224631_058932 | 461 | Put a freshly sliced piece of bread into the microwave. | What's the robot's progress on placing the sliced piece of bread on the plate? Please answer with a number from 0 to 100. | [
"Go as far as you can to your left, then turn left again and continue to the counter to the right of the fridge.",
"Pick up the knife behind the loaf of bread on the counter.",
"Slice the right half of the loaf of bread.",
"Move one step to the right.",
"Put the knife on the counter, in front of the bread a... | 9 | [
{
"step_id": 0,
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"end_frame": 18,
"images": [
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224631_058932/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-1... | Place the sliced piece of bread on the plate. | 4 |
65,566 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073749_086690 | 551 | Put a piece of cooked apple in a bin. | What's the robot's progress on placing the cut apple pieces on the plate? Please answer with a number from 0 to 100. | [
"Turn left, go forward, turn left at the dishwasher.",
"Take the large knife to the let of the bread on the counter.",
"Turn left, go forward, turn right at the toaster on the counter.",
"Cut the apple to the right of the vase into pieces.",
"Turn left, go forward a step, turn left, go forward, turn left at... | 7 | [
{
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"end_frame": 21,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073749_086690/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan... | Place the cut apple pieces on the plate. | 4 |
60,339 | full_2.1.0/valid_unseen/pick_two_obj_and_place-CD-None-Safe-308/trial_T20190907_051013_060265 | 343 | Put CDs in a safe. | What's the robot's progress on putting cds in a safe? Please answer with a number from 0 to 100. | [
"Turn right, go straight to the bed, turn right, go to the desk chair, turn right to face the desk.",
"Take the CD from the desk.",
"Turn right, go straight to the basket next to the bed, turn left, go straight and stop near the safe.",
"Open the safe, put the CD in the safe, close the safe.",
"Turn left, g... | 15 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 23,
"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-CD-None-Safe-308/trial_T20190907_051013_060265/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-CD-None-Safe-308/trial_T20190907_051013_060265/raw_imag... | null | null |
60,388 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Pencil-Bowl-Shelf-308/trial_T20190909_232711_494127 | 363 | collect pencil and bowl for the desk | What's the robot's progress on collecting pencil and bowl for the desk? Please answer with a number from 0 to 100. | [
"Turn to the right, walk to the desk",
"Pick up the pencil from the desk",
"Turn to the left, walk to the second desk",
"Place the pencil in the bowl on the desk",
"Pick up the pencil and the bowl from the desk",
"Turn to the right, walk to the bed, then turn left and walk to the other desk",
"Place the... | 15 | [
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"images": [
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Pencil-Bowl-Shelf-308/trial_T20190909_232711_494127/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Pencil-Bowl-Shelf-308/trial_... | null | null |
60,071 | full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_121952_610012 | 203 | Walk to the desk and pick up a pencil also put it back. | What's the robot's progress on walking to the desk and pick up a pencil also put it back? Please answer with a number from 0 to 100. | [
"Turn right at the trash can and walk to the left of the bed. Turn left at the desk to your left.",
"Pick up the white pencil on the desk.",
"Turn around in a circle.",
"Put the pencil back down on the desk by the books."
] | 9 | [
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"step_id": 0,
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"end_frame": 24,
"images": [
"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_121952_610012/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_121952_610012/... | null | null |
60,314 | full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221016_460197 | 352 | Place two salt shakers in a kitchen drawer. | What's the robot's progress on placing two salt shakers in a kitchen drawer? Please answer with a number from 0 to 100. | [
"Turn to the right and move to the brown door, then turn right and move to the refrigerator, then turn right and move to the counter of the kitchen island between the sink and the black garbage bin.",
"Pick up the salt shaker between the knife and the spatula from the counter of the kitchen island.",
"Turn left... | 15 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 22,
"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221016_460197/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_... | null | null |
60,400 | full_2.1.0/valid_unseen/look_at_obj_in_light-CreditCard-None-FloorLamp-219/trial_T20190909_103610_740356 | 185 | turn on lamp with credit card in hand | What's the robot's progress on turning on lamp with credit card in hand? Please answer with a number from 0 to 100. | [
"walk to face couch",
"pick up red credit card from couch",
"walk left to face lamp",
"turn on lamp near couch"
] | 8 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 24,
"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-CreditCard-None-FloorLamp-219/trial_T20190909_103610_740356/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-CreditCard-None-FloorLamp-219/trial_T20190909_... | null | null |
60,222 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040303_217739 | 256 | To chill lettuce for cooking. | What's the robot's progress on chilling lettuce for cooking? Please answer with a number from 0 to 100. | [
"Walk to the left side of the sink that's on the right. ",
"Pick up the lettuce that's in front of the butter knife. ",
"Turn right and walk to the fridge on the right. ",
"Open the door of the fridge, place the lettuce on the shelf to the right of the tomato, close the fridge door, wait a few seconds, take t... | 11 | [
{
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040303_217739/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_... | null | null |
65,227 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746_857594 | 295 | To move two bars of soap to the cabinet. | What's the robot's progress on placing the bar of soap into the soapbottle? Please answer with a number from 0 to 100. | [
"Walk over to the counter in the middle of the sinks. ",
"Pick up the bar of soap in the back of the counter. ",
"Move further back from the counter. ",
"Open the cabinet door all the way to the left, place the bar of soap in the cabinet to the right of the rag, and close the door. ",
"Move closer to the co... | 8 | [
{
"step_id": 0,
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"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746_857594/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746... | Place the bar of soap into the SoapBottle. | 3 |
60,331 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-10/trial_T20190909_025512_298420 | 304 | Move a knife in a cup to the sink. | What's the robot's progress on moving a knife in a cup to the sink? Please answer with a number from 0 to 100. | [
"Turn right to move around the island to stand facing the counter and centered between the two chairs.",
"Pick up the butter knife from beneath the sponge.",
"Turn left to move around to the other side of the island and stop facing the counter above the dishwasher.",
"Place the knife in the green cup closest ... | 13 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-10/trial_T20190909_025512_298420/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkB... | null | null |
65,419 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224718_745017 | 500 | Place a cool slice of bread in the microwave. | What's the robot's progress on placing a slice of bread on the plate? Please answer with a number from 0 to 100. | [
"Turn left, take a step, then turn right towards the fridge, and then turn right towards the counter on your right.",
"Pick up the left yellow knife from the counter.",
"Turn around and head towards the loaf of bread on the counter.",
"Slice the bread into slices.",
"Take a step to the left.",
"Place the ... | 10 | [
{
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"images": [
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224718_745017/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-1... | Place a slice of bread on the plate. | 4 |
60,245 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155134_457504 | 225 | Bring a white cup from the Fridge to the Counter. | What's the robot's progress on bringing a white cup from the fridge to the counter? Please answer with a number from 0 to 100. | [
"Turn around and go straight pass the oven and turn right towards the counter.",
"Pick up the spoon from the counter.",
"Turn left go towards the Fridge and open the fridge.",
"Place the spoon in the Cup on the first rack of the fridge.",
"Take out the cup with the spoon and close the fridge.",
"Turn righ... | 10 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155134_457504/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/tr... | null | null |
60,140 | full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190909_210238_431966 | 273 | Move a cup from the shelf to the desk. | What's the robot's progress on moving a cup from the shelf to the desk? Please answer with a number from 0 to 100. | [
"Turn to the right and then the left to the other side of the room, and face the desk on the left side. Look up to the books on the shelf.",
"Pick up the cup from the shelf.",
"Carry the cup and turn to the left and then face the desk on the right side. ",
"Place the cup on the short side of the desk, close t... | 12 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190909_210238_431966/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190909_210238_431966/raw_imag... | null | null |
65,408 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224631_058932 | 461 | Place a chilled slice of bread into the microwave. | What's the robot's progress on placing the slice of bread onto the plate? Please answer with a number from 0 to 100. | [
"Turn to your left and walk to the toaster next to the refrigerator.",
"Pick up the knife from the counter.",
"Cut the loaf of bread.",
"Move one step to your right.",
"Place the knife on the counter.",
"Walk one step to the left.",
"Pick up a slice of bread from the middle of the loaf.",
"Walk over t... | 9 | [
{
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224631_058932/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-1... | Place the slice of bread onto the plate. | 4 |
60,034 | full_2.1.0/valid_unseen/look_at_obj_in_light-BasketBall-None-DeskLamp-308/trial_T20190907_161235_786153 | 207 | Look at the basketball in the light from the lamp. | What's the robot's progress on looking at the basketball in the light from the lamp? Please answer with a number from 0 to 100. | [
"Walk to the foot of the bed.",
"Pick up the basketball from the floor.",
"Go to the desk to your left.",
"Turn on the lamp."
] | 9 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 23,
"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-BasketBall-None-DeskLamp-308/trial_T20190907_161235_786153/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-BasketBall-None-DeskLamp-308/trial_T20190907_16... | null | null |
60,426 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-10/trial_T20190909_174807_646433 | 312 | Put chilled lettuce on the counter. | What's the robot's progress on putting chilled lettuce on the counter? Please answer with a number from 0 to 100. | [
"Move forward, turn right, go to the fridge, turn right, go to face the lettuce on the counter, past the sink on the right. ",
"Pick up the lettuce on the counter.",
"Turn right, bring the lettuce to the fridge on the right. ",
"Chill the lettuce in the fridge. ",
"Take the chilled lettuce to the counter, r... | 13 | [
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"step_id": 0,
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"end_frame": 17,
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-10/trial_T20190909_174807_646433/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-10/tria... | null | null |
60,268 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746_857594 | 295 | To move two bars of soap to the cabinet. | What's the robot's progress on moving two bars of soap to the cabinet? Please answer with a number from 0 to 100. | [
"Walk over to the counter in the middle of the sinks. ",
"Pick up the bar of soap in the back of the counter. ",
"Move further back from the counter. ",
"Open the cabinet door all the way to the left, place the bar of soap in the cabinet to the right of the rag, and close the door. ",
"Move closer to the co... | 12 | [
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"step_id": 0,
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"end_frame": 24,
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746_857594/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746... | null | null |
65,103 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538 | 333 | Refrigerator the heated apple | What's the robot's progress on placing the apple on the plate? Please answer with a number from 0 to 100. | [
"Turn right towards the sink.",
"Pick up the apple in the sink.",
"Turn left, walk forward, then turn left at the stove.",
"Place the apple in the microwave and remove it.",
"Turn left and walk to the refrigerator.",
"Put the apple in the refrigerator."
] | 5 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | Place the apple on the plate. | 2 |
60,003 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033228_194678 | 388 | place a cooled potato inside of the microwave | What's the robot's progress on placing a cooled potato inside of the microwave? Please answer with a number from 0 to 100. | [
"turn right and move to the windows at the end of the room, then hang a left and walk over to the kitchen island and face the sink part of it",
"grab a potato out of the sink",
"turn right and walk to the fridge on your right",
"place the potato in the fridge, let it cool, then take it back out",
"turn righ... | 17 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033228_194678/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T2... | null | null |
65,175 | full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_180831_140621 | 171 | Examine a computer in the lamp light. | What's the robot's progress on placing the cell phone on the dresser and examine it under the lamp light? Please answer with a number from 0 to 100. | [
"Step forward, then turn right to go to the dresser.",
"Pick up the computer on the dresser, in front of the statue.",
"Turn right, then go forward to go toward the lamp.",
"Turn on the lamp."
] | 5 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 16,
"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_180831_140621/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_180831_1... | Place the cell phone on the dresser and examine it under the lamp light. | 1 |
60,136 | full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896 | 290 | put a mug on a desk | What's the robot's progress on putting a mug on a desk? Please answer with a number from 0 to 100. | [
"turn to face the desk top and shelves above desk",
"pick up the white mug from the shelf second from the desk top",
"walk to the left side of the desk",
"put the mug on the desk top on the cd"
] | 13 | [
{
"step_id": 0,
"start_frame": 0,
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"images": [
"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896/raw_imag... | null | null |
60,201 | full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220604_010430 | 195 | Examine a pencil by the light of a desk lamp. | What's the robot's progress on examining a pencil by the light of a desk lamp? Please answer with a number from 0 to 100. | [
"Turn right, walk forward to the garbage bin on the floor, then turn right and walk to the bed, then turn left and walk to the desk on the left.",
"Pick up the pencil from the desk which is under the cell phone.",
"Walk slightly to the right and turn left to face the lamp on the desk.",
"Turn on the lamp."
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220604_010430/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220604_010... | null | null |
65,110 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182353_418140 | 394 | Put a heated apple in the fridge. | What's the robot's progress on placing the apple on the plate next to the coffee maker? Please answer with a number from 0 to 100. | [
"Go forward to the fridge then turn right, then go forward and turn left at the counter with the coffee maker.",
"Pick up the apple on the counter, to the left of the coffee maker.",
"Turn left, go straight, then turn right and look up to face the microwave.",
"Heat the apple in the microwave.",
"Go to the ... | 8 | [
{
"step_id": 0,
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"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182353_418140/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | Place the apple on the plate next to the coffee maker. | 2 |
60,107 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Plate-None-CounterTop-10/trial_T20190908_213356_017769 | 217 | wash the dirty bowl before putting the bowl on the counter | What's the robot's progress on washing the dirty bowl before putting the bowl on the counter? Please answer with a number from 0 to 100. | [
"go to the counter near the stove",
"pick up the square Bowl",
"take the bowl to the sink",
"wash the bowl in the sink",
"take the bowel to the counter",
"put the bowl on the counter top"
] | 9 | [
{
"step_id": 0,
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"end_frame": 21,
"images": [
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Plate-None-CounterTop-10/trial_T20190908_213356_017769/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Plate-None-CounterTop-10/trial_... | null | null |
60,527 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190908_062352_374890 | 254 | Put egg in bowl and place on counter | What's the robot's progress on putting egg in bowl and place on counter? Please answer with a number from 0 to 100. | [
"turn around and cross the room turning right into the kitchen",
"turn to the counter and pick up the egg",
"turn right and cross the kitchen turn right to the counter",
"open the cabinet and place egg in bowl ",
"remove bowl in the cabinet",
"While holding the egg in the bowl close the cabinet doors ",
... | 11 | [
{
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"end_frame": 20,
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190908_062352_374890/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/tria... | null | null |
60,537 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073656_715770 | 527 | Slice apple in the trash can, grab a piece, cook it in the microwave, put it in the trash can | What's the robot's progress on slicing apple in the trash can, grab a piece, cook it in the microwave, put it in the trash can? Please answer with a number from 0 to 100. | [
"Walk towards the counter next to the fridge",
"Grab a knife from the counter",
"Walk with the knife towards the trash can",
"Slice apple in the trash can",
"Put knife in the trash can",
"Pick up an apple piece from the trash can",
"Walk with the apple piece towards the microwave",
"Put the apple piec... | 23 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073656_715770/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan... | null | null |
60,206 | full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220656_510400 | 195 | Examine a pencil using the light of a lamp. | What's the robot's progress on examining a pencil using the light of a lamp? Please answer with a number from 0 to 100. | [
"Turn left, walk to the end of the bed, turn right, walk a few steps, turn left, walk to the wall, then turn left to face the desk. ",
"Pick up the white pencil that is sitting on the shelf above the desk. ",
"Lower the pencil down to the desk area. ",
"Turn on the lamp that is sitting on the desk."
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220656_510400/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220656_510... | null | null |
65,495 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173149_648833 | 303 | Put a cold egg in the sink. | What's the robot's progress on placing the dish sponge in the sink? Please answer with a number from 0 to 100. | [
"Cross the kitchen, go between the counter and the stove, then turn to the right and face the sink.",
"Pick up the egg from in the sink.",
"Bring the egg with you to go face the white fridge.",
"Open the fridge and put the egg inside, close the door and let it get cool, then take the egg back out of the fridg... | 7 | [
{
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173149_648833/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T2019090... | Place the dish sponge in the sink. | 1 |
60,310 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190908_115651_521111 | 417 | Put a washed piece of lettuce in a bin | What's the robot's progress on putting a washed piece of lettuce in a bin? Please answer with a number from 0 to 100. | [
"Go to the kitchen island",
"Pick up a butterknife",
"Turn around to the counter",
"Cut the lettuce",
"Go to the middle of the counter",
"Put the butterknife down",
"Go to the left part of the counter",
"Pick up a lettuce piece",
"Go to the sink",
"Wash the lettuce",
"Go to the black bin",
"Pu... | 19 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190908_115651_521111/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-Garb... | null | null |
60,297 | full_2.1.0/valid_unseen/look_at_obj_in_light-KeyChain-None-FloorLamp-219/trial_T20190909_103507_522012 | 183 | Look at keys using an illuminated lamp. | What's the robot's progress on looking at keys using an illuminated lamp? Please answer with a number from 0 to 100. | [
"Cross the room and when you get to the sofa, head left to stand in front of the blue chair.",
"Pick up the leftmost set of keys from the chair.",
"Turn right to carry the keys closer to the lamp, which is between the chair and sofa.",
"Turn on the lamp to look at the keys."
] | 8 | [
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"step_id": 0,
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"end_frame": 20,
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"full_2.1.0/valid_unseen/look_at_obj_in_light-KeyChain-None-FloorLamp-219/trial_T20190909_103507_522012/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-KeyChain-None-FloorLamp-219/trial_T20190909_1035... | null | null |
65,015 | full_2.1.0/valid_unseen/look_at_obj_in_light-Vase-None-FloorLamp-219/trial_T20190908_071731_613441 | 211 | Examine a vase under a tall lamp | What's the robot's progress on placing the newspaper on the white shelf next to the vase? Please answer with a number from 0 to 100. | [
"Head forward to the couch, at the couch take a right and walk to the white shelf ahead of you, then take a step to the left and continue to face the white shelf, the one directly to the left of the white safe",
"Pick up the golden vase that is sitting on the shelf",
"Turn around and cross the room to the blue ... | 6 | [
{
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"end_frame": 19,
"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-Vase-None-FloorLamp-219/trial_T20190908_071731_613441/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Vase-None-FloorLamp-219/trial_T20190908_071731_61344... | Place the newspaper on the white shelf next to the vase. | 1 |
65,019 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T20190907_080800_275989 | 284 | Put a clean spatula in a drawer. | What's the robot's progress on wiping the spatula with a dish sponge and place it back on the counter? Please answer with a number from 0 to 100. | [
"Turn and go left and stand in front of the spatula on the counter.",
"Pick the spatula up off of the counter.",
"Go right and then left to stand in front of the sink.",
"Put the spatula in the sink, turn the water on, turn the water off, and take the spatula out.",
"Turn around and face the drawer to the l... | 7 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T20190907_080800_275989/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T201... | Wipe the spatula with a dish sponge and place it back on the counter. | 2 |
60,043 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T20190907_080800_275989 | 284 | Put a clean spatula in a drawer. | What's the robot's progress on putting a clean spatula in a drawer? Please answer with a number from 0 to 100. | [
"Go to the end of the island by the window.",
"Pick up the spatula near the edge.",
"Take the spatula to the sink.",
"Clean the spatula in the sink.",
"Turn and take the clean spatula to the counter on the left of the stove.",
"Put the clean spatula in the drawer under the blue credit card."
] | 13 | [
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"end_frame": 16,
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T20190907_080800_275989/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T201... | null | null |
60,111 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Bread-None-CounterTop-10/trial_T20190908_091811_414150 | 264 | Put a cooled loaf of bread on the counter above the dishwasher. | What's the robot's progress on putting a cooled loaf of bread on the counter above the dishwasher? Please answer with a number from 0 to 100. | [
"Move to the end of the island on your left.",
"Pick up the loaf of bread closest to the sink.",
"Turn around and move to the front of the fridge.",
"Put the loaf of bread on the second shelf of the fridge for a few minutes and then remove it.",
"Move a few steps to the counter on your right.",
"Set the l... | 12 | [
{
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Bread-None-CounterTop-10/trial_T20190908_091811_414150/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Bread-None-CounterTop-10/trial_T2... | null | null |
65,263 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746_857594 | 295 | Place two bars of white soap on the shelf in the cabinet. | What's the robot's progress on placing the white bar of soap on the towel? Please answer with a number from 0 to 100. | [
"Turn around and go to the sink.",
"Pick up the white bar of soap closest to the wall",
"Go to the left cabinet under the left sink.",
"Open the far left cabinet door under the sink on the left.",
"Go to the cleaning supplies between the sinks.",
"Pick up the white bar of soap above the orange roll.",
"... | 5 | [
{
"step_id": 0,
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"end_frame": 23,
"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746_857594/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081746... | Place the white bar of soap on the towel. | 2 |
65,528 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-SinkBasin-10/trial_T20190908_123311_648354 | 298 | Put a bottle on a plate in the sink. | What's the robot's progress on placing the apple on the plate in the sink? Please answer with a number from 0 to 100. | [
"move to the sink to the right of the stove",
"pick up a vase from the sink",
"move to the counter to the right of the fridge",
"put the vase on a plate",
"pick up the plate from the cabinet",
"move to the sink behind you",
"put the bottle in the sink"
] | 6 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 18,
"images": [
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-SinkBasin-10/trial_T20190908_123311_648354/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-S... | Place the apple on the plate in the sink. | 1 |
60,089 | full_2.1.0/valid_unseen/look_at_obj_in_light-Box-None-FloorLamp-219/trial_T20190907_103041_110705 | 249 | examine the box in the lamp light | What's the robot's progress on examining the box in the lamp light? Please answer with a number from 0 to 100. | [
"turn to the right and go forward to the fireplace and turn to the left and go forward to the shelving",
"pick up the box on the bottom shelf",
"turn to the left and turn to the left and go forward to clear the couch and turn to the right and go forward to the end of the couch and turn to the right to look at t... | 11 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-Box-None-FloorLamp-219/trial_T20190907_103041_110705/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Box-None-FloorLamp-219/trial_T20190907_103041_110705/... | null | null |
65,373 | full_2.1.0/valid_unseen/pick_two_obj_and_place-CD-None-Safe-308/trial_T20190907_051013_060265 | 343 | Transfer the two CDs from the desk to the vault. | What's the robot's progress on placing the cd into the laptop? Please answer with a number from 0 to 100. | [
"Turn right, head towards the bed, and then turn right towards the desk on your right.",
"Pick up the CD on the desk.",
"Turn right towards the night stand and then turn left towards the vault on the floor.",
"Place the CD in the vault and close it.",
"Turn left towards the desk.",
"Pick up the CD from th... | 7 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 19,
"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-CD-None-Safe-308/trial_T20190907_051013_060265/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-CD-None-Safe-308/trial_T20190907_051013_060265/raw_imag... | Place the CD into the laptop. | 2 |
60,357 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-424/trial_T20190908_215019_162873 | 224 | Put a wet bar of soap in the cupboard. | What's the robot's progress on putting a wet bar of soap in the cupboard? Please answer with a number from 0 to 100. | [
"Turn left and walk to the sink.",
"Pick up the bar of soap that's in front of you to the right on the back of the toilet.",
"Take a step to your left then a step backwards.",
"Get the soap wet in the sink and then pick it back up and shut off the water.",
"Back up a step so you can use the cupboards under ... | 10 | [
{
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"end_frame": 20,
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-424/trial_T20190908_215019_162873/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-424/trial_... | null | null |
60,207 | full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021613_077537 | 260 | Put a salt shaker in a drawer next to the oven. | What's the robot's progress on putting a salt shaker in a drawer next to the oven? Please answer with a number from 0 to 100. | [
"Turn right and walk to the wall then turn left and walk to the counter.",
"Take a salt shaker from the cupboard above the coffee maker.",
"Turn left and walk in front of the oven.",
"Put the salt shaker in the middle drawer between the dishwasher and the oven."
] | 11 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 22,
"images": [
"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021613_077537/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021613... | null | null |
65,466 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173215_875825 | 318 | Put a chilled egg into the sink. | What's the robot's progress on placing the egg into the bowl? Please answer with a number from 0 to 100. | [
"Go across the room to the kitchen then go to the sink on the right side.",
"Pick up the egg that is beside the fork in the sink.",
"Move across the kitchen to the refrigerator.",
"Open the refrigerator, then place the egg on the glass shelf and close the fridge. Wait then open the fridge and pick up the egg,... | 8 | [
{
"step_id": 0,
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"end_frame": 18,
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173215_875825/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T2019090... | Place the egg into the bowl. | 2 |
60,344 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020329_050110 | 317 | Place a cooked apple into the sink. | What's the robot's progress on placing a cooked apple into the sink? Please answer with a number from 0 to 100. | [
"Turn around to face the room and go left past the refrigerator, then turn to face the sink on the right.",
"Pick up the green apple from the left side of the sink.",
"Turn around and take the apple to the microwave behind you.",
"Put the apple in the microwave, cook it, and remove it.",
"Turn around to you... | 13 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 24,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020329_050110/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T201... | null | null |
60,103 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Plate-None-CounterTop-10/trial_T20190908_213533_897289 | 269 | Wash a plate and place on counter. | What's the robot's progress on washing a plate and place on counter? Please answer with a number from 0 to 100. | [
"Turn around completely and walk forward. Turn to the right and go around the corner and turn right again to face the counter. ",
"Pick up the plate from the counter. ",
"Step to the left and then turn to the right to face the sink, ",
"Place the plate in the sink and turn on the water and wash the plate. Tur... | 12 | [
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"end_frame": 23,
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Plate-None-CounterTop-10/trial_T20190908_213533_897289/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Plate-None-CounterTop-10/trial_... | null | null |
60,420 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114622_738670 | 277 | Place a cold pan on the counter by the toaster. | What's the robot's progress on placing a cold pan on the counter by the toaster? Please answer with a number from 0 to 100. | [
"Move a step to your right to stand in front of the stove.",
"Pick up the pan from the front left burner of the stove.",
"Turn left to carry the pan to the fridge.",
"Place the pan on the second shelf in the fridge, close the door, and then remove after a few seconds.",
"Turn right and carry the pan to the ... | 12 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114622_738670/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190... | null | null |
60,017 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538 | 333 | Place a heated apple in the fridge. | What's the robot's progress on placing a heated apple in the fridge? Please answer with a number from 0 to 100. | [
"Turn right to face the silver sink.",
"Pick up the green apple inside the sink next to the spoon.",
"Turn left and head towards the silver stove on your left.",
"Look above the stove, open the microwave door, place the apple inside next to the egg, close the door, heat it for a moment, open the door, pick up... | 14 | [
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"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
65,160 | full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_893506 | 184 | Examine a laptop by the light of a tall lamp. | What's the robot's progress on placing the newspaper on the dresser next to the laptops? Please answer with a number from 0 to 100. | [
"Turn around head towards the dresser with the two laptops.",
"Close the lid of the laptop on the right and pick it up.",
"Turn right and head towards the white couch.",
"Turn on the lamp on the left of the couch."
] | 6 | [
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"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_893506/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_8... | Place the newspaper on the dresser next to the laptops. | 1 |
60,422 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114545_244903 | 341 | Put a chilled pan on the counter. | What's the robot's progress on putting a chilled pan on the counter? Please answer with a number from 0 to 100. | [
"Turn around and cross the room and then go right and turn to the left to face the stove.",
"Pick the pan up from the front left of the stove.",
"Go left and stand in front of the fridge.",
"Put the pan in the fridge and shut the door and then open the door and get the pan back out and shut the door.",
"Go ... | 15 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114545_244903/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190... | null | null |
60,101 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190909_213642_049125 | 442 | Place cold lettuce in black bin. | What's the robot's progress on placing cold lettuce in black bin? Please answer with a number from 0 to 100. | [
"Turn left then right and face the counter with the lettuce on your left.",
"Take the knife from the counter in front of you.",
"Turn left and face the counter on your right.",
"Slice the lettuce in front of you.",
"Turn right then face the counter to your left.",
"Place the knife on the counter in front ... | 19 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190909_213642_049125/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-Garbag... | null | null |
60,085 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop-10/trial_T20190908_131500_521936 | 454 | Put a heated apple piece on the counter. | What's the robot's progress on putting a heated apple piece on the counter? Please answer with a number from 0 to 100. | [
"Turn around and go to the counter on the right of the stove.",
"Pick up the gray knife on the counter",
"Turn around and go to the front of the sink on the right.",
"Cut the green apple inside the sink",
"Place the gray knife inside the sink.",
"Pick up one piece of the apple out from the sink. ",
"Tur... | 20 | [
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"end_frame": 23,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop-10/trial_T20190908_131500_521936/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop... | null | null |
60,010 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182259_116320 | 422 | Put a cooked apple in the refrigerator. | What's the robot's progress on putting a cooked apple in the refrigerator? Please answer with a number from 0 to 100. | [
"Go straight, then turn right towards the sink. Stop in front of the sink.",
"Pick up the green apple from the sink.",
"Turn around, go in front of the stop top.",
"Put the apple in the microwave, turn on the microwave, remove the apple from the microwave.",
"Turn left, go in front of the refrigerator.",
... | 19 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182259_116320/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
60,345 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020329_050110 | 317 | Heat the left apple in the microwave. | What's the robot's progress on heating the left apple in the microwave? Please answer with a number from 0 to 100. | [
"Move to the sink. ",
"Pick up the apple in the sink on the left. ",
"Bring the apple to the microwave. ",
"Heat the apple in the microwave. ",
"Bring the apple to the sink. ",
"Put the apple in the sink, to the left of the other apple. "
] | 14 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020329_050110/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T201... | null | null |
60,013 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182353_418140 | 394 | Place a cooked apple in the refrigerator. | What's the robot's progress on placing a cooked apple in the refrigerator? Please answer with a number from 0 to 100. | [
"Walk forward to the fridge then turn right and walk until you hit a wall then turn left to face a coffee pot.",
"Pick up the green apple to the left of the coffee pot.",
"Turn left and position yourself in front of the stove.",
"Cook the apple in the microwave and take it back out and close the door.",
"Tu... | 17 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182353_418140/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
65,372 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040303_217739 | 256 | cool the cabbage in the refrigerator, put it in the sink | What's the robot's progress on chopping the cabbage and place it in the bowl? Please answer with a number from 0 to 100. | [
"walk straight to the counter by the sink",
"Grab the cabbage on the counter",
"Turn right, walk to the refrigerator",
"Open the the refrigerator, put the cabbage in the refrigerator, open the refrigerator, take the cabbage out, close the refrigerator",
"Turn right, walk to the sink on the right",
"Put th... | 5 | [
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"images": [
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040303_217739/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_... | Chop the cabbage and place it in the bowl. | 2 |
60,068 | full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_122154_042763 | 179 | Move the pencil to a different area of the desk. | What's the robot's progress on moving the pencil to a different area of the desk? Please answer with a number from 0 to 100. | [
"Turn right and take one step, then turn left and walk across the room, then turn left to face the desk. ",
"Pick up the pencil near the edge of the desk. ",
"Turn around and take one step, then turn back around to face the desk. ",
"Put the pencil down directly in front of the set of books on the left. "
] | 8 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_122154_042763/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_122154_042763/... | null | null |
60,126 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_T20190907_144323_122735 | 305 | Put the cup from the microwave in the sink with a fork in it. | What's the robot's progress on putting the cup from the microwave in the sink with a fork in it? Please answer with a number from 0 to 100. | [
"Move to the stove on the other side of the island.",
"Pick up the cup inside the microwave above the stove before closing the door.",
"Turn around to the sink behind you.",
"Place the cup inside the sink.",
"Pick up the fork from inside the sink.",
"Put the fork inside the cup in the sink."
] | 14 | [
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"end_frame": 20,
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_T20190907_144323_122735/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_... | null | null |
60,193 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061130_844814 | 340 | Put a cleaned, filled bowl of water in the cabinet, left of the microwave. | What's the robot's progress on putting a cleaned, filled bowl of water in the cabinet, left of the microwave? Please answer with a number from 0 to 100. | [
"Turn around, move around the island to the left, then head to the other side of the island, turn around to face the bowl on the side of the island. ",
"Pick up the dirty bowl on the island. ",
"Bring the bowl around the island to the right, then face the sink on the left.",
"Wash the bowl in the sink with wa... | 15 | [
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"end_frame": 16,
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061130_844814/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T2019090... | null | null |
60,072 | full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_121952_610012 | 203 | Move the pencil on the desk over. | What's the robot's progress on moving the pencil on the desk over? Please answer with a number from 0 to 100. | [
"Turn to your right and walk past the desk, then turn left and go to the end of the desk, closest to the wall. ",
"Pick up the pencil on the desk, to the right of the lamp. ",
"Move over to your left slightly so that you are right next to the blue office chair. ",
"Place the pencil back on the desk, in front ... | 9 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_121952_610012/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_121952_610012/... | null | null |
65,141 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817 | 327 | place two bars of soap inside the same garbage bin | What's the robot's progress on placing the soap bar on the towel? Please answer with a number from 0 to 100. | [
"turn around and walk forwards to the center of the two bathroom sinks ahead",
"grab a bar of soap off of the bathroom sink counter in between the two sinks",
"turn around and walk over to the right side corner of the room where the garbage bin is",
"place the bar inside of the garbage bin",
"turn right and... | 6 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 21,
"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | Place the soap bar on the towel. | 2 |
65,511 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190912_190125_832581 | 219 | Put a egg on a bowl on a counter. | What's the robot's progress on placing the apple from the shelf into the bowl? Please answer with a number from 0 to 100. | [
"move to the shelf to the right of you",
"pick up a bowl from the shelf",
"move to the counter to the right of the stove",
"put the bowl on the counter",
"pick up a egg from the counter",
"put the egg on the bowl on the counter"
] | 6 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 22,
"images": [
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190912_190125_832581/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/tria... | Place the apple from the shelf into the bowl. | 2 |
60,355 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-424/trial_T20190908_215019_162873 | 224 | put a rinse off bar of soap in to the cabinet | What's the robot's progress on putting a rinse off bar of soap in to the cabinet? Please answer with a number from 0 to 100. | [
"turn to the left to face the toilet",
"pick up the bar of soap from the back of the toilet",
"move to the left to face the sink to the left of the toilet",
"put the bar of soap in to the sink, turn on the faucet to rinse off the soap, pick up the soap out of the sink",
"move back slightly from the sink",
... | 10 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-424/trial_T20190908_215019_162873/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-424/trial_... | null | null |
65,422 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020403_745438 | 346 | Put an apple into a microwave to cook it | What's the robot's progress on placing the apple on the plate? Please answer with a number from 0 to 100. | [
"Turn around and walk to the sink that is on your right",
"Pick up the green apple out of the sink",
"Turn around and walk to the microwave that is above the stove",
"Open the microwave and place the apple inside to the left of the green cup ",
"Close the door and turn the microwave on then open the microwa... | 8 | [
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"end_frame": 23,
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020403_745438/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T201... | Place the apple on the plate. | 2 |
65,205 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083346_800823 | 491 | Warm up the cup inside the cabinet. | What's the robot's progress on placing the green cup on the plate? Please answer with a number from 0 to 100. | [
"Turn around towards the windows, turn left towards the coffee maker, turn right towards the loaf of bread on the counter, and then look up towards the cabinets.",
"Open the right cabinet and take out a green cup.",
"Take a step to the right to find the microwave above the stove.",
"Warm up the cup and take i... | 11 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083346_800823/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_08... | Place the green cup on the plate. | 2 |
65,207 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkBasin-10/trial_T20190907_194052_908074 | 227 | Put a pan with a knife in it, in the sink. | What's the robot's progress on placing the knife into the bowl? Please answer with a number from 0 to 100. | [
"Go right, right again and then right to face the counter with the tomato on it.",
"Pick the knife up from the counter.",
"Go to the left and then turn left to face the stove.",
"Put the knife in the pan.",
"Pick the pan up from the stove.",
"Turn around and face the sink.",
"Put the pan in the sink."
] | 7 | [
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"end_frame": 21,
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkBasin-10/trial_T20190907_194052_908074/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkB... | Place the knife into the bowl. | 2 |
60,212 | full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021650_880235 | 215 | place a salt shaker in one of the pullout drawers | What's the robot's progress on placing a salt shaker in one of the pullout drawers? Please answer with a number from 0 to 100. | [
"turn right and walk to the fridge at the end of the room, then take another right and walk to the end of the room, turn left to face the kitchen counter there",
"grab the salt shaker out of the cabinet below the kitchen counter",
"turn left and walk to the kitchen counter space to the right of the dishwasher",... | 10 | [
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"end_frame": 18,
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"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021650_880235/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021650... | null | null |
60,135 | full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896 | 290 | Put a cup on the desk, by the chcair. | What's the robot's progress on putting a cup on the desk, by the chcair? Please answer with a number from 0 to 100. | [
"Turn around and go to the bed, then turn left to go around to the other side of the bed, turn to your left just before the laundry hamper, and go to the end of the desk, on your left.",
"Pick up the white cup on the second shelf up, on the right side of the desk, between the books. ",
"Move over to the left e... | 13 | [
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"end_frame": 17,
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"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896/raw_imag... | null | null |
60,329 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-10/trial_T20190909_025512_298420 | 304 | put green cup and knife into sink basin | What's the robot's progress on putting green cup and knife into sink basin? Please answer with a number from 0 to 100. | [
"walk to face counter behind sink",
"pick up butter knife from under sponge on counter",
"walk to face counter to left of stove",
"put knife into green cup on the left on the counter",
"pick up the green cup from counter",
"turn to face the kitchen sink",
"put green cup into sink basin"
] | 14 | [
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"end_frame": 16,
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-10/trial_T20190909_025512_298420/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkB... | null | null |
65,410 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020403_745438 | 346 | Put a cooked apple in a sink. | What's the robot's progress on placing the green apple on the plate? Please answer with a number from 0 to 100. | [
"Turn around and go towards the door, take a right and go towards the fridge, take a right and go to the sink on your right. ",
"Pick up the green apple that is in the sink.",
"Turn around and go to the microwave that is above the stove. ",
"Open the microwave, put the apple inside, close the door, turn the m... | 9 | [
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"step_id": 0,
"start_frame": 0,
"end_frame": 19,
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T20190907_020403_745438/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-SinkBasin-10/trial_T201... | Place the green apple on the plate. | 2 |
60,155 | full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163327_486300 | 314 | Arrange cushion one and two taken from the grey chair on the white couch | What's the robot's progress on arranging cushion one and two taken from the grey chair on the white couch? Please answer with a number from 0 to 100. | [
"turn around, then turn left to face the grey chair ",
"pick up a cushion on the left ",
"turn right, then look straight at the white, long couch",
"place the cushion on the couch to the left of the remote",
"return to the grey chair",
"pick up the last cushion on the chair",
"return to the long white c... | 14 | [
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"step_id": 0,
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163327_486300/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163327_486300/... | null | null |
65,431 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_171850_960211 | 324 | Put the warm mug on the coffee maker | What's the robot's progress on placing the mug on the plate? Please answer with a number from 0 to 100. | [
"Turn around to your right move forward then turn left, head to the coffee maker",
"Pick up the mug in front of the coffee maker on the counter",
"Turn to your left head to the microwave above the stove",
"Open the microwave then put in and out the mug then close the microwave",
"Turn to your right and head... | 7 | [
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"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_171850_960211/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_... | Place the mug on the plate. | 2 |
60,233 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/trial_T20190918_231203_583927 | 215 | Place the fork with green cup on counter. | What's the robot's progress on placing the fork with green cup on counter? Please answer with a number from 0 to 100. | [
"Turn and go to the sink.",
"Pick up the fork that is on the right in the sink.",
"With the fork in hand turn and go to the coffee maker\n",
"Open the cabinets that are below the coffee maker and place the fork inside the green cup in the cabinet.",
"Pick up the green cup with the fork in it.",
"Lift up s... | 9 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/trial_T20190918_231203_583927/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/tria... | null | null |
60,063 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120554_888709 | 290 | Place a rinsed egg in a microwave. | What's the robot's progress on placing a rinsed egg in a microwave? Please answer with a number from 0 to 100. | [
"Turn around and walk to the fridge, then take a couple steps to the right. Face the counter.",
"Pick up the egg on the counter.",
"Turn around and walk to the sink.",
"Wash the egg in the sink.",
"Turn around and veer right to the stove and microwave.",
"Place the egg in the microwave, near the middle."
... | 13 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190... | null | null |
60,169 | full_2.1.0/valid_unseen/look_at_obj_in_light-Bowl-None-DeskLamp-308/trial_T20190907_133953_562557 | 190 | Turn a lamp on with a bowl in hand. | What's the robot's progress on turning a lamp on with a bowl in hand? Please answer with a number from 0 to 100. | [
"Turn and go right to face the desk with the lamp and cup.",
"Pick the bowl up from the shelf.",
"Move to the right and face the desk drawers.",
"Turn the lamp on the desk on."
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Bowl-None-DeskLamp-308/trial_T20190907_133953_562557/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Bowl-None-DeskLamp-308/trial_T20190907_133953_562557/... | null | null |
60,251 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_121635_622676 | 405 | Place a chilled mug in a cabinet. | What's the robot's progress on placing a chilled mug in a cabinet? Please answer with a number from 0 to 100. | [
"Turn around and walk to the counter to the left of the stove.",
"Look up and take the mug out of the cabinet.",
"Turn left and walk to the fridge.",
"Place the mug in the fridge in front of the tomato. Close the door, wait a moment, and take it out again.",
"Take a step right.",
"Open the leftmost bottom... | 18 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_121635_622676/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_12... | null | null |
60,317 | full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221141_608117 | 458 | Put two shakers in the drawer to the left of the stove. | What's the robot's progress on putting two shakers in the drawer to the left of the stove? Please answer with a number from 0 to 100. | [
"move to the counter to the left of the stove",
"pick up a shaker from the cabinet",
"move to the drawer to the left of the stove",
"put the shaker in the drawer",
"Turn to the right of you",
"pick up a shaker from the cabinet",
"move to the drawer to the left of the stove",
"put the shaker in the dra... | 21 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221141_608117/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_... | null | null |
60,362 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224631_058932 | 461 | Put a cold slice of bread in the microwave. | What's the robot's progress on putting a cold slice of bread in the microwave? Please answer with a number from 0 to 100. | [
"Turn left, go towards the coffee maker, turn left go to the dishwasher on the right.",
"Take the yellow handle knife from the counter behind the bread.",
"Cut the bread into slices.",
"Stay at the counter.",
"Put the knife on the counter in front of the bread and spatula.",
"Stay at the counter.",
"Tak... | 21 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224631_058932/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-1... | null | null |
60,327 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-10/trial_T20190909_025308_903206 | 299 | Take a cup from the microwave, place it in the sink and put the knife inside the cup. | What's the robot's progress on taking a cup from the microwave, place it in the sink and put the knife inside the cup? Please answer with a number from 0 to 100. | [
"Turn around and walk towards the refrigerator. Turn right and go to the stove. Look up at the microwave.",
"Look in the microwave and remove the green cup.",
"Turn around and go to the sink to your left.",
"Put the green cup in the sink.",
"Pick up the knife in the sink.",
"Place the knife inside the gre... | 13 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-10/trial_T20190909_025308_903206/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkB... | null | null |
60,368 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_021100_341887 | 464 | place a microwaved coffee cup inside of the kitchen cupboard | What's the robot's progress on placing a microwaved coffee cup inside of the kitchen cupboard? Please answer with a number from 0 to 100. | [
"turn left and walk over to the end of the room where the coffee maker is on the left",
"grab a coffee mug out of the cabinet to the top right of the coffee maker",
"move to the left a bit to face the microwave above the stove",
"place the coffee much inside of the microwave, microwave it for a bit and then t... | 20 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_021100_341887/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_02... | null | null |
60,146 | full_2.1.0/valid_unseen/look_at_obj_in_light-BaseballBat-None-DeskLamp-308/trial_T20190906_214706_219505 | 224 | Examine a black baseball bat in the light of a small lamp. | What's the robot's progress on examining a black baseball bat in the light of a small lamp? Please answer with a number from 0 to 100. | [
"Walk over to the door in front of you and turn right to face the wall.",
"Pick up the black bat leaning against the wall.",
"Turn around and walk forward, then turn right and walk over to the bed, turn left and walk over to the wooden desk with a small lamp on it in the far side of the room.",
"Turn on the s... | 10 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-BaseballBat-None-DeskLamp-308/trial_T20190906_214706_219505/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-BaseballBat-None-DeskLamp-308/trial_T20190906_... | null | null |
60,421 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114545_244903 | 341 | Place a chilled pan on a counter. | What's the robot's progress on placing a chilled pan on a counter? Please answer with a number from 0 to 100. | [
"Turn around and walk to the fridge, then veer right to the stove.",
"Pick up the pan on the stove.",
"Walk left back to the fridge.",
"Place the pan in the fridge. Close the door, wait a moment, and take it out again.",
"Walk a few steps right.",
"Place the pan on the counter to the right of the toaster.... | 15 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114545_244903/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190... | null | null |
60,079 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817 | 327 | Putting two bars of soap in the trash can | What's the robot's progress on putting two bars of soap in the trash can? Please answer with a number from 0 to 100. | [
"Turn around and go to the counter between the sinks",
"Grab a bar of soap off of the counter",
"Turn around and go to the trash can",
"Put the soap in the trash can",
"Turn right and go to the left sink",
"Grab the bar of soap that's to the right of the sink",
"Turn around and go to the trash can",
"... | 14 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | null | null |
60,088 | full_2.1.0/valid_unseen/look_at_obj_in_light-Box-None-FloorLamp-219/trial_T20190907_102952_001375 | 190 | Turning a lamp on. | What's the robot's progress on turning a lamp on? Please answer with a number from 0 to 100. | [
"Turn to the right, and then the left to locate the blue couch.",
"Pick up the box from the couch.",
"Take the box and turn right to the other couch.",
"Turn the lamp on in the corner."
] | 9 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Box-None-FloorLamp-219/trial_T20190907_102952_001375/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Box-None-FloorLamp-219/trial_T20190907_102952_001375/... | null | null |
60,115 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_032518_891433 | 180 | Put a washed pan on the count to the left of the stove. | What's the robot's progress on putting a washed pan on the count to the left of the stove? Please answer with a number from 0 to 100. | [
"Walk forward and face the stove on your right.",
"Pick up the pan from the stove.",
"Turn around and face the sink.",
"Wash the pan in the sink.",
"Turn around so your back is to the sink.",
"Put the pan on the count to the left of the stove."
] | 8 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_032518_891433/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Pan-None-CounterTop-10/trial_T201... | null | null |
65,094 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064221_368939 | 320 | Move two bars of soap from the counter to a golden can. | What's the robot's progress on placing the towel from the counter onto the hand towel rack? Please answer with a number from 0 to 100. | [
"Turn around and walk towards the wall, then hang a right and walk up to the counter.",
"Pick up the closest bar of soap off of the counter.",
"Turn around and walk to the door, then turn right and walk over to the golden can on the ground in the corner of the room.",
"Put the bar of soap into the golden can.... | 6 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064221_368939/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | Place the towel from the counter onto the hand towel rack. | 1 |
60,156 | full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_893506 | 184 | Examine a notebook computer by the light of a lamp | What's the robot's progress on examining a notebook computer by the light of a lamp? Please answer with a number from 0 to 100. | [
"turn to the left and take a few steps and turn to the left and go to the dresser",
"close the notebook computer and pick up from the dresser",
"turn to the right and go to the white sofa",
"turn on the lamp left of the white sofa"
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_893506/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_8... | null | null |
60,488 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-TomatoSliced-None-SinkBasin-10/trial_T20190910_160038_224287 | 378 | Put a warm tomato slice in the sink. | What's the robot's progress on putting a warm tomato slice in the sink? Please answer with a number from 0 to 100. | [
"Turn to your left, go to the refrigerator, then turn right and go to the first counter on your left. ",
"Pick up the knife on the back of the counter, behind the lettuce. ",
"Turn around and go to the sink. ",
"Cut the tomato in the sink into slices. ",
"Place the knife in the sink. ",
"Pick up one of th... | 16 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-TomatoSliced-None-SinkBasin-10/trial_T20190910_160038_224287/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-TomatoSliced-None-SinkBasin... | null | null |
60,005 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033306_962974 | 386 | put a cooled potato inside the microwave | What's the robot's progress on putting a cooled potato inside the microwave? Please answer with a number from 0 to 100. | [
"walk over to the kitchen sink",
"grab a potato out of the sink",
"walk over to the refrigerator",
"place the potato inside the fridge, and then take it back out",
"walk the potato over to the kitchen stove",
"put the potato in the microwave above the kitchen stove and close the door"
] | 17 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033306_962974/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T2... | null | null |
60,465 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-SinkBasin-10/trial_T20190908_015839_519239 | 369 | Put a plate with a bottle on it in the sink. | What's the robot's progress on putting a plate with a bottle on it in the sink? Please answer with a number from 0 to 100. | [
"Walk to the wall then turn left and walk to the coffee maker and then take a small step left.",
"Get the glass bottle from the cupboard above the coffee maker then close the doors.",
"Take a small step to your right.",
"Put the bottle on the plate in the cupboard above the coffee maker.",
"Pick up the plat... | 16 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-SinkBasin-10/trial_T20190908_015839_519239/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-S... | null | null |
65,037 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_T20190907_161817_163233 | 332 | Put a heated potato into a trash bin. | What's the robot's progress on placing the potato on the plate? Please answer with a number from 0 to 100. | [
"Move forward and face the kitchen sink on your left. ",
"Pick up the potato that is in the sink.",
"Turn around to face the microwave that is above the stove behind you. ",
"Place the potato between the two cups in the microwave and heat it before pulling it back out. ",
"Turn left, walk until you reach th... | 5 | [
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"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_T20190907_161817_163233/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_... | Place the potato on the plate. | 2 |
60,264 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Cloth-None-Cabinet-424/trial_T20190908_022436_073995 | 284 | Place the clean cloth back in the original cabinet. | What's the robot's progress on placing the clean cloth back in the original cabinet? Please answer with a number from 0 to 100. | [
"Turn left and face the sink.",
"Take the green cloth from the cabinet below the sink.",
"Place the green cloth in the sink.",
"Rinse the green cloth in the sink.",
"Back up from the sink.",
"Place the cloth back in the cabinet."
] | 13 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Cloth-None-Cabinet-424/trial_T20190908_022436_073995/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Cloth-None-Cabinet-424/trial_T201... | null | null |
60,272 | full_2.1.0/valid_unseen/look_at_obj_in_light-Statue-None-FloorLamp-219/trial_T20190908_041353_333106 | 181 | Inspect a statue with a lamp. | What's the robot's progress on inspecting a statue with a lamp? Please answer with a number from 0 to 100. | [
"move to the dresser behind you",
"pick up a statue from the dresser",
"move to the lamp to the left",
"turn on the lamp"
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Statue-None-FloorLamp-219/trial_T20190908_041353_333106/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Statue-None-FloorLamp-219/trial_T20190908_041353_3... | null | null |
60,030 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_221208_560499 | 278 | Fill up a mug with water and take to the coffee machine. | What's the robot's progress on filling up a mug with water and take to the coffee machine? Please answer with a number from 0 to 100. | [
"Go to the left to pass the island and straight back to locate the coffee machine.",
"Open the cabinet below and pull out a cup. Shut the door.",
"Carry the cup and turn left to find the sink in the island.",
"Place the cup in the sink and turn the water on. Turn the water off and pick up the cup from the sin... | 13 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_221208_560499/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-10/tria... | null | null |
65,041 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033157_424297 | 331 | Place the potato in the microwave. | What's the robot's progress on cutting the potato into slices and place them in the pan? Please answer with a number from 0 to 100. | [
"Turn left then right to face the counter with the knife on it. ",
"Pick up the potato from the counter.",
"Turn right and face the fridge. ",
"Open the fridge and chill the potato for 5 seconds then take it out.",
"Turn right and walk then turn left to face the stove.",
"Look above the stove to the micro... | 7 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033157_424297/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T2... | Cut the potato into slices and place them in the pan. | 2 |
60,008 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182259_116320 | 422 | Put the cooked green apple in the fridge | What's the robot's progress on putting the cooked green apple in the fridge? Please answer with a number from 0 to 100. | [
"Walk forward and then turn right to approach the sink in the kitchen",
"Pick up the green apple from the sink",
"Turn around and walk up to the microwave above the stove",
"Put the apple in the microwave, cook it, then remove it",
"Turn left and walk over to the fridge",
"Put the apple in the fridge to t... | 19 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182259_116320/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
60,532 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073749_086690 | 551 | To heat a piece of an apple and place it in a black bin. | What's the robot's progress on heating a piece of an apple and place it in a black bin? Please answer with a number from 0 to 100. | [
"Turn around and face the counter above the dishwasher. ",
"Pick up the knife to the left of the bread. ",
"Move to the counter with the toaster on it. ",
"Slice the green apple to the right of the white vase. ",
"Turn and walk to the sculpture on the counter, look down at the black bin. ",
"Place the kni... | 25 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 18,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073749_086690/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan... | null | null |
65,259 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083346_800823 | 491 | Put a heated vase in the cabinet. | What's the robot's progress on placing the vase on the counter and fill it with water from the tap? Please answer with a number from 0 to 100. | [
"Turn around and go left and then left again to stand at the counter in front of all of the utensils.",
"Open the cupboard above and take out the green vase.",
"Go right and stand in front of the microwave.",
"Put the vase in the microwave, turn it on and then take it out and shut the door.",
"Move to the l... | 11 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 24,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083346_800823/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_08... | Place the vase on the counter and fill it with water from the tap. | 2 |
60,410 | full_2.1.0/valid_unseen/look_at_obj_in_light-RemoteControl-None-FloorLamp-219/trial_T20190909_032740_934457 | 190 | Examine a remote control by the light of a tall lamp. | What's the robot's progress on examining a remote control by the light of a tall lamp? Please answer with a number from 0 to 100. | [
"Turn left, hang a left at the couch and walk to the blue chair ahead.",
"Pick up the remote control from the back left corner of the cushion on the chair.",
"Turn left and walk to the end of the couch ahead.",
"Turn on the tall lamp to the left of the couch."
] | 8 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 19,
"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-RemoteControl-None-FloorLamp-219/trial_T20190909_032740_934457/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-RemoteControl-None-FloorLamp-219/trial_T201... | null | null |
65,350 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190908_115403_911841 | 395 | Put a rinsed slice of lettuce in the trash. | What's the robot's progress on placing the cut lettuce on the plate? Please answer with a number from 0 to 100. | [
"Turn around, go pass the fridge and turn left to face the toaster.",
"Pick up the knife to the right of the toaster.",
"Look down at the lettuce on the counter.",
"Cut the lettuce on the counter.",
"Turn right and go to the sink.",
"Put the knife in the sink.",
"Turn around and go back to the counter w... | 8 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 24,
"images": [
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190908_115403_911841/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-Garb... | Place the cut lettuce on the plate. | 4 |
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