| { |
| "description": "40 LIBERO-plus Camera Viewpoints (hardest per base task; task 8 frozen)", |
| "order": "goal x10 (slot 8 frozen wine bottle), libero_10, object, spatial", |
| "stems": [ |
| "open_the_middle_drawer_of_the_cabinet_view_1_15_100_0_0_initstate_0", |
| "put_the_bowl_on_the_stove_view_22_15_100_0_0_initstate_0", |
| "open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_8_6_initstate_0", |
| "put_the_bowl_on_top_of_the_cabinet_view_0_0_100_10_10_initstate_0", |
| "push_the_plate_to_the_front_of_the_stove_view_0_0_100_350_350_initstate_0", |
| "put_the_cream_cheese_in_the_bowl_view_0_0_100_352_10_initstate_0", |
| "turn_on_the_stove_view_319_15_100_0_0_initstate_0", |
| "put_the_wine_bottle_on_top_of_the_cabinet_view_38_15_100_0_0_initstate_0", |
| "put_the_bowl_on_the_plate_view_0_0_184_0_0_initstate_0", |
| "put_the_wine_bottle_on_the_rack_view_0_0_192_0_0_initstate_0", |
| "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_2_8_initstate_0", |
| "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_17_15_100_0_0_initstate_0", |
| "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_31_15_100_0_0_initstate_0", |
| "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_136_0_0_initstate_0", |
| "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_145_0_0_initstate_0", |
| "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_350_4_initstate_0", |
| "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_352_8_initstate_0", |
| "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_318_15_100_0_0_initstate_0", |
| "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_181_0_0_initstate_0", |
| "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_358_8_initstate_0", |
| "pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_12_15_100_0_0_initstate_0", |
| "pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_4_10_initstate_0", |
| "pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_6_6_initstate_0", |
| "pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_8_6_initstate_0", |
| "pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_142_0_0_initstate_0", |
| "pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_151_0_0_initstate_0", |
| "pick_up_the_butter_and_place_it_in_the_basket_view_0_0_166_0_0_initstate_0", |
| "pick_up_the_milk_and_place_it_in_the_basket_view_0_0_172_0_0_initstate_0", |
| "pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_183_0_0_initstate_0", |
| "pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_192_0_0_initstate_0", |
| "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_13_15_100_0_0_initstate_0", |
| "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_16_15_100_0_0_initstate_0", |
| "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_6_8_initstate_0", |
| "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_58_0_100_0_0_initstate_0", |
| "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_0_0_147_0_0_initstate_0", |
| "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_289_15_100_0_0_initstate_0", |
| "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_0_0_100_352_350_initstate_0", |
| "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_175_0_0_initstate_0", |
| "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_181_0_0_initstate_0", |
| "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_345_15_100_0_0_initstate_0" |
| ], |
| "tasks": [ |
| { |
| "slot": 1, |
| "suite": "libero_goal", |
| "stem": "open_the_middle_drawer_of_the_cabinet_view_1_15_100_0_0_initstate_0", |
| "base_task": "open_the_middle_drawer_of_the_cabinet", |
| "id": 698, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 4, |
| "frozen": false |
| }, |
| { |
| "slot": 2, |
| "suite": "libero_goal", |
| "stem": "put_the_bowl_on_the_stove_view_22_15_100_0_0_initstate_0", |
| "base_task": "put_the_bowl_on_the_stove", |
| "id": 728, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 3, |
| "frozen": false |
| }, |
| { |
| "slot": 3, |
| "suite": "libero_goal", |
| "stem": "open_the_top_drawer_and_put_the_bowl_inside_view_0_0_100_8_6_initstate_0", |
| "base_task": "open_the_top_drawer_and_put_the_bowl_inside", |
| "id": 794, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 4, |
| "suite": "libero_goal", |
| "stem": "put_the_bowl_on_top_of_the_cabinet_view_0_0_100_10_10_initstate_0", |
| "base_task": "put_the_bowl_on_top_of_the_cabinet", |
| "id": 846, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 5, |
| "suite": "libero_goal", |
| "stem": "push_the_plate_to_the_front_of_the_stove_view_0_0_100_350_350_initstate_0", |
| "base_task": "push_the_plate_to_the_front_of_the_stove", |
| "id": 896, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 6, |
| "suite": "libero_goal", |
| "stem": "put_the_cream_cheese_in_the_bowl_view_0_0_100_352_10_initstate_0", |
| "base_task": "put_the_cream_cheese_in_the_bowl", |
| "id": 945, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 7, |
| "suite": "libero_goal", |
| "stem": "turn_on_the_stove_view_319_15_100_0_0_initstate_0", |
| "base_task": "turn_on_the_stove", |
| "id": 1005, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 4, |
| "frozen": false |
| }, |
| { |
| "slot": 8, |
| "suite": "libero_goal", |
| "stem": "put_the_wine_bottle_on_top_of_the_cabinet_view_38_15_100_0_0_initstate_0", |
| "base_task": "put_the_wine_bottle_on_top_of_the_cabinet", |
| "id": 769, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": true |
| }, |
| { |
| "slot": 9, |
| "suite": "libero_goal", |
| "stem": "put_the_bowl_on_the_plate_view_0_0_184_0_0_initstate_0", |
| "base_task": "put_the_bowl_on_the_plate", |
| "id": 1029, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 4, |
| "frozen": false |
| }, |
| { |
| "slot": 10, |
| "suite": "libero_goal", |
| "stem": "put_the_wine_bottle_on_the_rack_view_0_0_192_0_0_initstate_0", |
| "base_task": "put_the_wine_bottle_on_the_rack", |
| "id": 1058, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 4, |
| "frozen": false |
| }, |
| { |
| "slot": 11, |
| "suite": "libero_10", |
| "stem": "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket_view_0_0_100_2_8_initstate_0", |
| "base_task": "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", |
| "id": 684, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 4, |
| "frozen": false |
| }, |
| { |
| "slot": 12, |
| "suite": "libero_10", |
| "stem": "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_view_17_15_100_0_0_initstate_0", |
| "base_task": "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", |
| "id": 712, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 3, |
| "frozen": false |
| }, |
| { |
| "slot": 13, |
| "suite": "libero_10", |
| "stem": "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_view_31_15_100_0_0_initstate_0", |
| "base_task": "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", |
| "id": 755, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 14, |
| "suite": "libero_10", |
| "stem": "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_view_0_0_136_0_0_initstate_0", |
| "base_task": "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", |
| "id": 787, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 15, |
| "suite": "libero_10", |
| "stem": "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_view_0_0_145_0_0_initstate_0", |
| "base_task": "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", |
| "id": 833, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 16, |
| "suite": "libero_10", |
| "stem": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy_view_0_0_100_350_4_initstate_0", |
| "base_task": "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", |
| "id": 887, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 17, |
| "suite": "libero_10", |
| "stem": "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_view_0_0_100_352_8_initstate_0", |
| "base_task": "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", |
| "id": 934, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 18, |
| "suite": "libero_10", |
| "stem": "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_view_318_15_100_0_0_initstate_0", |
| "base_task": "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", |
| "id": 996, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 19, |
| "suite": "libero_10", |
| "stem": "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_view_0_0_181_0_0_initstate_0", |
| "base_task": "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", |
| "id": 1019, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 20, |
| "suite": "libero_10", |
| "stem": "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_view_0_0_100_358_8_initstate_0", |
| "base_task": "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", |
| "id": 1075, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 21, |
| "suite": "libero_object", |
| "stem": "pick_up_the_alphabet_soup_and_place_it_in_the_basket_view_12_15_100_0_0_initstate_0", |
| "base_task": "pick_up_the_alphabet_soup_and_place_it_in_the_basket", |
| "id": 664, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 22, |
| "suite": "libero_object", |
| "stem": "pick_up_the_cream_cheese_and_place_it_in_the_basket_view_0_0_100_4_10_initstate_0", |
| "base_task": "pick_up_the_cream_cheese_and_place_it_in_the_basket", |
| "id": 673, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 3, |
| "frozen": false |
| }, |
| { |
| "slot": 23, |
| "suite": "libero_object", |
| "stem": "pick_up_the_salad_dressing_and_place_it_in_the_basket_view_0_0_100_6_6_initstate_0", |
| "base_task": "pick_up_the_salad_dressing_and_place_it_in_the_basket", |
| "id": 700, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 24, |
| "suite": "libero_object", |
| "stem": "pick_up_the_bbq_sauce_and_place_it_in_the_basket_view_0_0_100_8_6_initstate_0", |
| "base_task": "pick_up_the_bbq_sauce_and_place_it_in_the_basket", |
| "id": 746, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 25, |
| "suite": "libero_object", |
| "stem": "pick_up_the_ketchup_and_place_it_in_the_basket_view_0_0_142_0_0_initstate_0", |
| "base_task": "pick_up_the_ketchup_and_place_it_in_the_basket", |
| "id": 783, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 26, |
| "suite": "libero_object", |
| "stem": "pick_up_the_tomato_sauce_and_place_it_in_the_basket_view_0_0_151_0_0_initstate_0", |
| "base_task": "pick_up_the_tomato_sauce_and_place_it_in_the_basket", |
| "id": 829, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 27, |
| "suite": "libero_object", |
| "stem": "pick_up_the_butter_and_place_it_in_the_basket_view_0_0_166_0_0_initstate_0", |
| "base_task": "pick_up_the_butter_and_place_it_in_the_basket", |
| "id": 884, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 28, |
| "suite": "libero_object", |
| "stem": "pick_up_the_milk_and_place_it_in_the_basket_view_0_0_172_0_0_initstate_0", |
| "base_task": "pick_up_the_milk_and_place_it_in_the_basket", |
| "id": 929, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 29, |
| "suite": "libero_object", |
| "stem": "pick_up_the_chocolate_pudding_and_place_it_in_the_basket_view_0_0_183_0_0_initstate_0", |
| "base_task": "pick_up_the_chocolate_pudding_and_place_it_in_the_basket", |
| "id": 978, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 30, |
| "suite": "libero_object", |
| "stem": "pick_up_the_orange_juice_and_place_it_in_the_basket_view_0_0_192_0_0_initstate_0", |
| "base_task": "pick_up_the_orange_juice_and_place_it_in_the_basket", |
| "id": 1018, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 31, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_view_13_15_100_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate", |
| "id": 612, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 2, |
| "frozen": false |
| }, |
| { |
| "slot": 32, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_view_16_15_100_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate", |
| "id": 624, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 33, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_view_0_0_100_6_8_initstate_0", |
| "base_task": "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate", |
| "id": 657, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 2, |
| "frozen": false |
| }, |
| { |
| "slot": 34, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_view_58_0_100_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate", |
| "id": 730, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 3, |
| "frozen": false |
| }, |
| { |
| "slot": 35, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_view_0_0_147_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate", |
| "id": 742, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 3, |
| "frozen": false |
| }, |
| { |
| "slot": 36, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_view_289_15_100_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate", |
| "id": 810, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 37, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_view_0_0_100_352_350_initstate_0", |
| "base_task": "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate", |
| "id": 841, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 3, |
| "frozen": false |
| }, |
| { |
| "slot": 38, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_view_0_0_175_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate", |
| "id": 876, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| }, |
| { |
| "slot": 39, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_view_0_0_181_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate", |
| "id": 915, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 4, |
| "frozen": false |
| }, |
| { |
| "slot": 40, |
| "suite": "libero_spatial", |
| "stem": "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate_view_345_15_100_0_0_initstate_0", |
| "base_task": "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate", |
| "id": 967, |
| "category": "Camera Viewpoints", |
| "difficulty_level": 5, |
| "frozen": false |
| } |
| ] |
| } |
|
|
