id
int64 0
199
| source_index
int64 29
22.6k
| question
stringclasses 1
value | choices
listlengths 4
4
| choice_labels
listlengths 4
4
| correct_index
int64 0
3
| correct_label
stringclasses 4
values | final_answer_text
stringlengths 111
1.09k
| reasoning_trace
stringclasses 10
values | num_reasoning_steps
int64 3
13
| images
images listlengths 5
15
| num_images
int64 5
15
|
|---|---|---|---|---|---|---|---|---|---|---|---|
0
| 22,490
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go to the counter left of the stove. Pick up the tomato. Go to the microwave. Put the tomato in the microwave.",
"Go to the counter right of the stove. Pick up the tomato. Go to the microwave. Put the tomato on the stove in front of the microwave.",
"Go to the counter right of the stove. Pick up the tomato. Go to the microwave. Put the tomato in the microwave.",
"Go to the counter right of the stove. Pick up the red apple next to the tomato. Go to the microwave. Put the apple in the microwave."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Go to the counter right of the stove. Pick up the tomato. Go to the microwave. Put the tomato in the microwave.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
1
| 10,219
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go forward to the counter, then turn right to face the sink. Pick up the egg from on the counter next to the sink. Turn around and move forward, then turn right to face the fridge. Chill the egg inside of the fridge. Turn around, then turn left and return to the sink, then look up to the microwave above it. Put the egg in the microwave, then close it.",
"Go forward to the counter, then turn right to face the sink. Pick up the egg from in the sink. Turn around and move forward, then turn right to face the fridge. Chill the egg inside of the fridge. Turn around, then turn left and return to the sink, then look up to the microwave above it. Put the egg in the microwave, then close it.",
"Go forward to the counter, then turn right to face the sink. Pick up the egg from in the sink. Turn around and move forward, then turn right to face the fridge. Chill the egg inside of the fridge. Turn around, then turn left and return to the sink, then look up to the microwave above it. Put the egg in the microwave and leave the microwave door open.",
"Go forward to the counter, then turn right to face the sink. Pick up the egg from in the sink. Turn around and move forward, then turn right to face the fridge. Chill the egg inside of the fridge. Turn around, then turn right and return to the sink, then look up to the microwave above it. Put the egg in the microwave, then close it."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Go forward to the counter, then turn right to face the sink. Pick up the egg from in the sink. Turn around and move forward, then turn right to face the fridge. Chill the egg inside of the fridge. Turn around, then turn left and return to the sink, then look up to the microwave above it. Put the egg in the microwave, then close it.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
2
| 21,278
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go to your right, around the table in front of you, to the counter to the right of the sink. Pick up the knife lying next to the spatula on the counter. Wash the knife in the sink. Move slightly right, to the counter right of the sink. Put the knife back on the counter.",
"Go to your right, around the table in front of you, to the counter to the right of the sink. Pick up the spatula from the counter. Wash the spatula in the sink. Move slightly left, to the counter directly in front of the sink. Put the spatula back on the counter.",
"Go to your right, around the table in front of you, to the counter to the right of the sink. Pick up the spatula from the counter. Move slightly right, to the counter right of the sink. Wash the spatula in the sink. Put the spatula back on the counter.",
"Go to your right, around the table in front of you, to the counter to the right of the sink. Pick up the spatula from the counter. Wash the spatula in the sink. Move slightly right, to the counter right of the sink. Put the spatula back on the counter."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Go to your right, around the table in front of you, to the counter to the right of the sink. Pick up the spatula from the counter. Wash the spatula in the sink. Move slightly right, to the counter right of the sink. Put the spatula back on the counter.
|
<image_2> <image_3> <image_4> <image_5> <image_6>
| 5
| 7
|
|
3
| 18,014
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"walk to face sink. pick up goblet from sink. walk to face microwave. warm goblet in microwave, remove goblet from microwave. turn to the left of the microwave to face counter top. put goblet on counter top.",
"walk to face sink. pick up goblet from sink. walk to face microwave. warm goblet in microwave, remove goblet from microwave. put goblet on counter top. turn to the right of the microwave to face counter top.",
"walk to face sink. pick up goblet from counter top. walk to face microwave. warm goblet in microwave, remove goblet from microwave. turn to the right of the microwave to face counter top. put goblet on counter top.",
"walk to face sink. pick up goblet from sink. walk to face microwave. warm goblet in microwave, remove goblet from microwave. turn to the right of the microwave to face counter top. put goblet on counter top."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
walk to face sink. pick up goblet from sink. walk to face microwave. warm goblet in microwave, remove goblet from microwave. turn to the right of the microwave to face counter top. put goblet on counter top.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
4
| 5,792
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"turn left, go to bathtub. pick up dirty red rag from tub. turn around, go to sink to the left. place red rag in sink, turn on water, pick up red rag from sink, turn off water. turn around, go to bathtub. place clean red rag in bathtub to the left of green sponge in bathtub.",
"turn left, go to bathtub. pick up dirty red rag from tub. turn around, go to sink to the left. place red rag in sink, turn on water, turn off water, pick up red rag from sink. turn around, go to bathtub. place clean red rag in bathtub to the left of green sponge in bathtub.",
"turn left, go to bathtub. pick up dirty red rag from tub. turn around, go to sink to the right. place red rag in sink, turn on water, turn off water, pick up red rag from sink. turn around, go to bathtub. place clean red rag in bathtub to the left of green sponge in bathtub.",
"turn left, go to bathtub. pick up dirty red rag from tub. turn around, go to sink to the left. place red rag in sink, turn on water, turn off water, pick up red rag from sink. turn around, go to bathtub. place clean red rag in bathtub to the right of green sponge in bathtub."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
turn left, go to bathtub. pick up dirty red rag from tub. turn around, go to sink to the left. place red rag in sink, turn on water, turn off water, pick up red rag from sink. turn around, go to bathtub. place clean red rag in bathtub to the left of green sponge in bathtub.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
5
| 16,069
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn right and look to the right of the stove. Open the cupboard directly to the right of the stove and remove the green cup. Turn right and walk to the kitchen sink. Rinse the cup under water in the sink then remove it. Turn left and face the microwave on the counter. Put the cup into the microwave and close it.",
"Turn right and look above the stove. Open the cupboard directly above the stove and remove the blue cup. Turn right and walk to the kitchen sink. Rinse the cup under water in the sink then remove it. Turn left and face the microwave on the counter. Put the cup into the microwave and close it.",
"Turn right and look above the stove. Open the cupboard directly above the stove and remove the green cup. Turn right and walk to the kitchen sink. Rinse the cup under water in the sink then remove it. Turn left and face the microwave on the counter. Put the cup into the microwave and close it.",
"Turn right and look above the stove. Open the cupboard directly above the stove and remove the green cup. Turn right and walk to the kitchen sink. Rinse the cup under water in the sink then remove it. Turn left and face the microwave on the counter. Put the cup into the microwave and leave the microwave door open."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Turn right and look above the stove. Open the cupboard directly above the stove and remove the green cup. Turn right and walk to the kitchen sink. Rinse the cup under water in the sink then remove it. Turn left and face the microwave on the counter. Put the cup into the microwave and close it.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
6
| 19,624
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and head straight to the counter. Grab the knife off of the counter. Turn slightly to the left. Cut the apple into four slices. Place the knife onto the counter. Grab one of the apple slices. Turn right and stop at the oven. Put the apple in the bowl in the bottom left stove. Grab the bowl with the apple in it. Turn around and head to the fridge. Open the fridge and put the bowl in it.",
"Turn around and head straight to the counter. Grab the knife off of the counter. Turn slightly to the left. Cut the apple into three slices. Place the knife into the sink. Grab one of the apple slices. Turn right and stop at the oven. Put the apple in the bowl in the bottom left stove. Grab the bowl with the apple in it. Turn around and head to the fridge. Open the fridge and put the bowl in it.",
"Turn around and head straight to the counter. Grab the knife off of the counter. Turn slightly to the left. Cut the apple into three slices. Place the knife onto the counter. Grab one of the apple slices. Turn right and stop at the oven. Put the apple in the bowl in the bottom left stove. Grab the bowl with the apple in it. Turn around and head to the fridge. Open the fridge and put the bowl in it.",
"Turn around and head straight to the counter. Grab the knife off of the counter. Turn slightly to the left. Cut the apple into three slices. Place the knife onto the counter. Grab one of the apple slices. Turn right and stop at the oven. Put the apple in the bowl in the bottom right stove. Grab the bowl with the apple in it. Turn around and head to the fridge. Open the fridge and put the bowl in it."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Turn around and head straight to the counter. Grab the knife off of the counter. Turn slightly to the left. Cut the apple into three slices. Place the knife onto the counter. Grab one of the apple slices. Turn right and stop at the oven. Put the apple in the bowl in the bottom left stove. Grab the bowl with the apple in it. Turn around and head to the fridge. Open the fridge and put the bowl in it.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12>
| 11
| 13
|
|
7
| 5,731
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left then right to face the coffee table. Pick up the statue closest to the edge. Turn left then left walk to the dining table. Place the statue on the dining table. Turn around, walk past the coffee table, make a right, turn right to face the coffee table. Pick up the statue closest to the edge. Turn right then left around the coffee table, walk to the dining table. Place the statue to the right of the original statue.",
"Turn left then right to face the coffee table. Pick up the statue farthest from the edge. Turn left then left walk to the dining table. Place the statue on the dining table. Turn around, walk past the coffee table, make a right, turn right to face the coffee table. Pick up the statue closest to the edge. Turn right then left around the coffee table, walk to the dining table. Place the statue to the right of the original statue.",
"Turn left then right to face the coffee table. Pick up the statue closest to the edge. Turn left then left walk to the dining table. Place the statue on the dining table. Turn around, walk past the coffee table, make a right, turn right to face the coffee table. Pick up the statue closest to the edge. Turn right then right around the coffee table, walk to the dining table. Place the statue to the right of the original statue.",
"Turn left then right to face the coffee table. Pick up the statue closest to the edge. Turn left then left walk to the dining table. Place the statue on the dining table. Turn around, walk past the coffee table, make a right, turn right to face the coffee table. Pick up the statue closest to the edge. Turn right then left around the coffee table, walk to the dining table. Place the statue to the left of the original statue."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn left then right to face the coffee table. Pick up the statue closest to the edge. Turn left then left walk to the dining table. Place the statue on the dining table. Turn around, walk past the coffee table, make a right, turn right to face the coffee table. Pick up the statue closest to the edge. Turn right then left around the coffee table, walk to the dining table. Place the statue to the right of the original statue.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9>
| 8
| 10
|
|
8
| 21,711
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"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, behind the keys.",
"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 right slightly so that you are right next to the blue office chair. Place the pencil back on the desk, in front of the keys.",
"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 left 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 of the keys.",
"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 of the keys."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
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 of the keys.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
9
| 21,259
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Move to the TV stand. Pick up the red credit card from the TV stand shelf. Bring the credit card to the chair next to the round table. Put the credit card down on the chair next to the round table. Move to the blue pillow on the couch. Pick up the red credit card on the couch. Bring the credit card to the chair with the other credit card. Put the credit card down on the chair next to the other credit card on the right.",
"Move to the blue pillow on the couch. Pick up the red credit card on the couch. Bring the credit card to the chair next to the round table. Put the credit card down on the chair next to the round table. Move to the TV stand. Pick up the red credit card from the TV stand shelf. Bring the credit card to the chair with the other credit card. Put the credit card down on the chair next to the other credit card on the right.",
"Move to the TV stand. Pick up the red credit card from the TV stand shelf. Bring the credit card to the chair next to the round table. Put the credit card down on the chair next to the round table. Move to the blue pillow on the couch. Pick up the red credit card on the couch. Bring the credit card to the chair with the other credit card. Put the credit card down on the chair next to the other credit card on the left.",
"Move to the TV stand. Pick up the red credit card from the TV stand shelf. Bring the credit card to the chair next to the round table. Put the credit card down on the round table next to the chair. Move to the blue pillow on the couch. Pick up the red credit card on the couch. Bring the credit card to the chair with the other credit card. Put the credit card down on the chair next to the other credit card on the right."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Move to the TV stand. Pick up the red credit card from the TV stand shelf. Bring the credit card to the chair next to the round table. Put the credit card down on the chair next to the round table. Move to the blue pillow on the couch. Pick up the red credit card on the couch. Bring the credit card to the chair with the other credit card. Put the credit card down on the chair next to the other credit card on the right.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9>
| 8
| 10
|
|
10
| 13,070
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn to the left and walk across the room to face the sink. Pick up the sponge on the sink. Take a step to the right to face the right side sink. Wash the sponge in the sink and pick it back up. Turn around and walk forward to face the bath tub. Place the sponge in the bath tub.",
"Turn to the left and walk across the room to face the sink. Pick up the sponge on the sink. Take a step to the left to face the left side sink. Wash the sponge in the sink and pick it back up. Turn around and walk forward to face the bath tub. Place the sponge on the edge of the bath tub.",
"Turn to the left and walk across the room to face the sink. Pick up the sponge on the sink. Take a step to the left to face the left side sink. Wash the sponge in the sink and pick it back up. Turn around and walk forward to face the bath tub. Place the sponge in the bath tub.",
"Turn to the left and walk across the room to face the sink. Pick up the green bottle on the sink. Take a step to the left to face the left side sink. Wash the bottle in the sink and pick it back up. Turn around and walk forward to face the bath tub. Place the bottle in the bath tub."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Turn to the left and walk across the room to face the sink. Pick up the sponge on the sink. Take a step to the left to face the left side sink. Wash the sponge in the sink and pick it back up. Turn around and walk forward to face the bath tub. Place the sponge in the bath tub.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
11
| 5,522
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn to the left and go back to the counter. Pick up the pan from the counter, to the right of the sink. Take a step to the left to face the sink. Place the pan in the sink and turn on the water. Turn off the water and pick up the pan. Take the pan and turn around, and face left to the white table. Place the pan on the right side of the white table.",
"Turn to the left and go back to the counter. Pick up the pan from the counter, to the left of the sink. Take a step to the left to face the sink. Place the pan in the sink and turn on the water. Turn off the water and pick up the pan. Take the pan and turn around, and face left to the white table. Place the pan on the left side of the white table.",
"Turn to the left and go back to the counter. Pick up the pot from the counter, to the right of the sink. Take a step to the left to face the sink. Place the pot in the sink and turn on the water. Turn off the water and pick up the pot. Take the pot and turn around, and face left to the white table. Place the pot on the left side of the white table.",
"Turn to the left and go back to the counter. Pick up the pan from the counter, to the right of the sink. Take a step to the left to face the sink. Place the pan in the sink and turn on the water. Turn off the water and pick up the pan. Take the pan and turn around, and face left to the white table. Place the pan on the left side of the white table."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Turn to the left and go back to the counter. Pick up the pan from the counter, to the right of the sink. Take a step to the left to face the sink. Place the pan in the sink and turn on the water. Turn off the water and pick up the pan. Take the pan and turn around, and face left to the white table. Place the pan on the left side of the white table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
12
| 6,707
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"go to the white table. pick up the mouse pan from the left side of the table. take the pad to the phone on the desk. turn the lamp on.",
"go to the white table. take the pad to the lamp on the desk. pick up the mouse pan from the left side of the table. turn the lamp on.",
"go to the white table. pick up the mouse pan from the right side of the table. take the pad to the lamp on the desk. turn the lamp on.",
"go to the white table. pick up the mouse pan from the left side of the table. take the pad to the lamp on the desk. turn the lamp on."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
go to the white table. pick up the mouse pan from the left side of the table. take the pad to the lamp on the desk. turn the lamp on.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
13
| 19,984
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Walk around the coffee table to the dining table in front of you to the right. Pick up the keys from the coffee table. Turn around and walk to the floor lamp that is to the right of the red sofa. Turn on the lamp.",
"Walk around the coffee table to the dining table in front of you to the right. Pick up the keys from the dining table. Turn around and walk to the floor lamp that is to the right of the red sofa. Turn on the lamp.",
"Walk around the coffee table to the dining table in front of you to the right. Pick up the keys from the dining table. Turn on the lamp. Turn around and walk to the floor lamp that is to the right of the red sofa.",
"Walk around the coffee table to the dining table in front of you to the right. Pick up the keys from the dining table. Turn around and walk to the floor lamp that is to the left of the red sofa. Turn on the lamp."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Walk around the coffee table to the dining table in front of you to the right. Pick up the keys from the dining table. Turn around and walk to the floor lamp that is to the right of the red sofa. Turn on the lamp.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
14
| 22,616
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Walk to the bed in front of you. Pick up the book in front of the cushion on the bed. turn around and walk to the desk, and look up at cabinets above the desk. Open the cabinet door on the left side, place the book inside of the cabinet, close the door.",
"Walk to the bed in front of you. Pick up the book behind the cushion on the bed. turn around and walk to the desk, and look up at cabinets above the desk. Open the cabinet door on the left side, place the book inside of the cabinet, close the door.",
"Walk to the bed in front of you. Pick up the book behind the cushion on the bed. turn around and walk to the desk, and look up at cabinets above the desk. Open the cabinet door on the right side, place the book inside of the cabinet, close the door.",
"Walk to the bed in front of you. Pick up the book behind the cushion on the bed. turn around and walk to the desk, and look up at cabinets above the desk. Open the cabinet door on the left side, place the book inside of the cabinet, leaving the door open."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Walk to the bed in front of you. Pick up the book behind the cushion on the bed. turn around and walk to the desk, and look up at cabinets above the desk. Open the cabinet door on the left side, place the book inside of the cabinet, close the door.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
15
| 5,090
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"take a few steps forward and turn to the right and take a step and turn to the left and take a few steps forward and turn to the left facing the table. pick up the front knife from the table. look at the tomato on the table. slice the tomato that is on the table with the knife. turn to the right twice and take a step. open the bottom cabinet door right of the oven and put in the knife and close the door. turn to the right twice and take a step to the table. pick up a slice of tomato from the table. turn to the right and go to the counter and turn to the left facing the microwave. open the microwave and put the tomato slice in it and cook it and take out the tomato slice. turn to the left twice and take a step and turn right and go to the door and turn to the right. put the tomato slice in the waste basket.",
"take a few steps forward and turn to the right and take a step and turn to the left and take a few steps forward and turn to the left facing the table. pick up the back knife from the table. look at the tomato on the table. slice the tomato that is on the table with the knife. turn to the right and take a step. open the bottom cabinet door right of the oven and put in the knife and close the door. turn to the right twice and take a step to the table. pick up a slice of tomato from the table. turn to the right and go to the counter and turn to the left facing the microwave. open the microwave and put the tomato slice in it and cook it and take out the tomato slice. turn to the left twice and take a step and turn right and go to the door and turn to the right. put the tomato slice in the waste basket.",
"take a few steps forward and turn to the right and take a step and turn to the left and take a few steps forward and turn to the left facing the table. pick up the back knife from the table. look at the tomato on the table. slice the tomato that is on the table with the knife. turn to the right twice and take a step. open the bottom cabinet door left of the oven and put in the knife and close the door. turn to the right twice and take a step to the table. pick up a slice of tomato from the table. turn to the right and go to the counter and turn to the left facing the microwave. open the microwave and put the tomato slice in it and cook it and take out the tomato slice. turn to the left twice and take a step and turn right and go to the door and turn to the right. put the tomato slice in the waste basket.",
"take a few steps forward and turn to the right and take a step and turn to the left and take a few steps forward and turn to the left facing the table. pick up the back knife from the table. look at the tomato on the table. slice the tomato that is on the table with the knife. turn to the right twice and take a step. open the bottom cabinet door right of the oven and put in the knife and close the door. turn to the right twice and take a step to the table. pick up a slice of tomato from the table. turn to the right and go to the counter and turn to the left facing the microwave. open the microwave and put the tomato slice in it and cook it and take out the tomato slice. turn to the left twice and take a step and turn right and go to the door and turn to the right. put the tomato slice in the waste basket."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
take a few steps forward and turn to the right and take a step and turn to the left and take a few steps forward and turn to the left facing the table. pick up the back knife from the table. look at the tomato on the table. slice the tomato that is on the table with the knife. turn to the right twice and take a step. open the bottom cabinet door right of the oven and put in the knife and close the door. turn to the right twice and take a step to the table. pick up a slice of tomato from the table. turn to the right and go to the counter and turn to the left facing the microwave. open the microwave and put the tomato slice in it and cook it and take out the tomato slice. turn to the left twice and take a step and turn right and go to the door and turn to the right. put the tomato slice in the waste basket.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
|
16
| 13,118
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn to the right. Then turn left to face the coffee machine. Pick up the lettuce from in front of the coffee machine. Hold the lettuce and move a few steps to the left and face the fridge. Open the fridge and place the lettuce inside. Shut the door and then open the door. Take out the lettuce and shut the door. Hold the lettuce and turn to the right. Then turn left and face the sink. Place the lettuce inside the sink.",
"Turn to the right. Then turn left to face the coffee machine. Pick up the lettuce from in front of the coffee machine. Hold the lettuce and move a few steps to the left and face the fridge. Open the fridge and place the lettuce inside. Shut the door and then open the door. Shut the door and take out the lettuce. Hold the lettuce and turn to the right. Then turn left and face the sink. Place the lettuce inside the sink.",
"Turn to the right. Then turn left to face the coffee machine. Pick up the lettuce from in front of the coffee machine. Hold the lettuce and move a few steps to the right and face the fridge. Open the fridge and place the lettuce inside. Shut the door and then open the door. Take out the lettuce and shut the door. Hold the lettuce and turn to the right. Then turn left and face the sink. Place the lettuce inside the sink.",
"Turn to the right. Then turn left to face the coffee machine. Pick up the lettuce from in front of the coffee machine. Hold the lettuce and move a few steps to the left and face the fridge. Open the fridge and place the lettuce inside. Shut the door and then open the door. Take out the lettuce and shut the door. Hold the lettuce and turn to the right. Then turn left and face the sink. Place the lettuce on the counter next to the sink."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn to the right. Then turn left to face the coffee machine. Pick up the lettuce from in front of the coffee machine. Hold the lettuce and move a few steps to the left and face the fridge. Open the fridge and place the lettuce inside. Shut the door and then open the door. Take out the lettuce and shut the door. Hold the lettuce and turn to the right. Then turn left and face the sink. Place the lettuce inside the sink.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
17
| 144
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left, go across the room, turn left and to the counter. Pick up the knife from the counter. Turn left, pass the sink and turn right to face the counter. Cut the bread on the counter. Turn around, go across the room, turn left and head to the fridge. Put the knife on the middle shelf of the fridge. Turn around, go across the room, turn right and go to the counter. Pick up a slice of bread. Turn around and head back to the fridge. Put the slice of bread in the fridge, close the fridge, open the fridge and pick it back up. Turn around, go across the room, turn right and head to the counter. Put the slice of bread on the edge of the counter.",
"Turn left, go across the room, turn left and to the counter. Pick up the knife from the counter. Turn left, pass the sink and turn right to face the counter. Cut the bread on the counter. Turn around, go across the room, turn left and head to the fridge. Put the knife on the top shelf of the fridge. Turn around, go across the room, turn right and go to the counter. Pick up a slice of bread. Turn around and head back to the fridge. Put the slice of bread in the fridge, close the fridge, open the fridge and pick it back up. Turn around, go across the room, turn right and head to the counter. Put the slice of bread in the middle of the counter next to the loaf.",
"Turn left, go across the room, turn left and to the counter. Pick up the knife from the counter. Turn left, pass the sink and turn right to face the counter. Cut the bread on the counter. Turn around, go across the room, turn left and head to the fridge. Put the knife on the top shelf of the fridge. Turn around, go across the room, turn right and go to the counter. Pick up a slice of bread. Turn around and head back to the fridge. Put the slice of bread in the fridge, close the fridge and pick it back up. Turn around, go across the room, turn right and head to the counter. Put the slice of bread on the edge of the counter.",
"Turn left, go across the room, turn left and to the counter. Pick up the knife from the counter. Turn left, pass the sink and turn right to face the counter. Cut the bread on the counter. Turn around, go across the room, turn left and head to the fridge. Put the knife on the top shelf of the fridge. Turn around, go across the room, turn right and go to the counter. Pick up a slice of bread. Turn around and head back to the fridge. Put the slice of bread in the fridge, close the fridge, open the fridge and pick it back up. Turn around, go across the room, turn right and head to the counter. Put the slice of bread on the edge of the counter."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Turn left, go across the room, turn left and to the counter. Pick up the knife from the counter. Turn left, pass the sink and turn right to face the counter. Cut the bread on the counter. Turn around, go across the room, turn left and head to the fridge. Put the knife on the top shelf of the fridge. Turn around, go across the room, turn right and go to the counter. Pick up a slice of bread. Turn around and head back to the fridge. Put the slice of bread in the fridge, close the fridge, open the fridge and pick it back up. Turn around, go across the room, turn right and head to the counter. Put the slice of bread on the edge of the counter.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
|
18
| 11,804
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Move forward, turn left to face the toilet from the side. Pick up the white toilet brush next to the toilet. Turn left to face the toilet paper holder. Put the toilet brush on the holder.",
"Move forward, turn left to face the toilet from the side. Pick up the toilet paper on the toilet. Turn left to face the toilet paper holder. Put the toilet paper on the holder.",
"Move forward, turn left to face the toilet from the side. Turn left to face the toilet paper holder. Pick up the toilet paper on the toilet. Put the toilet paper on the holder.",
"Move forward, turn right to face the toilet from the side. Pick up the toilet paper on the toilet. Turn left to face the toilet paper holder. Put the toilet paper on the holder."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Move forward, turn left to face the toilet from the side. Pick up the toilet paper on the toilet. Turn left to face the toilet paper holder. Put the toilet paper on the holder.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
19
| 14,085
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn right and walk up to the wooden desk. Pick up the yellow pencil from the desk. Walk a couple feet right then turn back to face the same desk. Put the pencil on the upper shelf of the desk.",
"Turn right and walk up to the wooden desk. Pick up the blue pen from the desk. Walk a couple feet left then turn back to face the same desk. Put the pen on the upper shelf of the desk.",
"Turn right and walk up to the wooden desk. Pick up the yellow pencil from the desk. Walk a couple feet left then turn back to face the same desk. Put the pencil on the main surface of the desk in front of the laptop.",
"Turn right and walk up to the wooden desk. Pick up the yellow pencil from the desk. Walk a couple feet left then turn back to face the same desk. Put the pencil on the upper shelf of the desk."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Turn right and walk up to the wooden desk. Pick up the yellow pencil from the desk. Walk a couple feet left then turn back to face the same desk. Put the pencil on the upper shelf of the desk.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
20
| 13,815
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left, go past the ottoman, turn left, go to the box on the couch. Pick up the red credit card on the couch. Bring the card to the box on the couch. Put the card in the box on the couch. Pick up the box with card on the couch. Turn around, bring the box to the middle of the room by the ottoman, turn left, go to the small black round table. Put the box on the round table.",
"Turn left, go past the ottoman, turn left, go to the box on the couch. Pick up the red credit card on the couch. Bring the card to the box on the couch. Put the card in the box on the couch. Pick up the box with card on the couch. Turn around, bring the box to the middle of the room by the ottoman and put the box on the ottoman instead of the round table.",
"Turn left, go past the ottoman, turn left, go to the box on the couch. Pick up the red credit card on the couch. Bring the card to the box on the couch. Put the card in the box on the couch. Pick up the box with card on the couch. Turn around, bring the box to the middle of the room by the ottoman, turn left, go to the small black round table. Put the box on the floor next to the round table.",
"Turn left, go past the ottoman, turn left, go to the box on the couch. Pick up the red credit card on the couch. Bring the card to the box on the couch. Put the card on top of the box on the couch. Pick up the box with the card on top on the couch. Turn around, bring the box to the middle of the room by the ottoman, turn left, go to the small black round table. Put the box on the round table."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn left, go past the ottoman, turn left, go to the box on the couch. Pick up the red credit card on the couch. Bring the card to the box on the couch. Put the card in the box on the couch. Pick up the box with card on the couch. Turn around, bring the box to the middle of the room by the ottoman, turn left, go to the small black round table. Put the box on the round table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
21
| 15,927
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"turn left and walk forwards a bit, then turn left and walk to the end of the room, then take a right and walk to the microwave ahead. grab the cup off of the counter to the left of the microwave. move to the right a bit and face the microwave again. place the cup inside of the microwave, microwave it then take it back out. turn around and walk to the table ahead, then turn around and face the kitchen cabinet to the right of the microwave. place the cup inside of the kitchen cabinet to the bottom left of the microwave.",
"turn left and walk forwards a bit, then turn left and walk to the end of the room, then take a right and walk to the microwave ahead. grab the cup off of the counter to the right of the microwave. move to the right a bit and face the microwave again. place the cup inside of the microwave, microwave it then take it back out. turn around and walk to the table ahead, then turn around and face the kitchen cabinet to the right of the microwave. place the cup inside of the kitchen cabinet to the bottom right of the microwave.",
"turn left and walk forwards a bit, then turn left and walk to the end of the room, then take a right and walk to the microwave ahead. grab the cup off of the counter to the left of the microwave. move to the right a bit and face the microwave again. place the cup inside of the microwave, microwave it then take it back out. turn around and walk to the table ahead, then turn around and face the kitchen cabinet to the right of the microwave. place the cup inside of the kitchen cabinet to the bottom right of the microwave.",
"turn left and walk forwards a bit, then turn left and walk to the end of the room, then take a left and walk to the microwave ahead. grab the cup off of the counter to the left of the microwave. move to the right a bit and face the microwave again. place the cup inside of the microwave, microwave it then take it back out. turn around and walk to the table ahead, then turn around and face the kitchen cabinet to the right of the microwave. place the cup inside of the kitchen cabinet to the bottom right of the microwave."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
turn left and walk forwards a bit, then turn left and walk to the end of the room, then take a right and walk to the microwave ahead. grab the cup off of the counter to the left of the microwave. move to the right a bit and face the microwave again. place the cup inside of the microwave, microwave it then take it back out. turn around and walk to the table ahead, then turn around and face the kitchen cabinet to the right of the microwave. place the cup inside of the kitchen cabinet to the bottom right of the microwave.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
22
| 5,252
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go to the right side of the white table. Grab the large knife off of the table. Turn left and go to the sink. Wash the knife in the sink and then take it out. Turn around and go to the white table. Put the knife on the stool next to the table.",
"Go to the right side of the white table. Grab the large spoon off of the table. Turn left and go to the sink. Wash the spoon in the sink and then take it out. Turn around and go to the white table. Put the spoon on the table.",
"Go to the right side of the white table. Grab the large knife off of the table. Turn right and go to the sink. Wash the knife in the sink and then take it out. Turn around and go to the white table. Put the knife on the table.",
"Go to the right side of the white table. Grab the large knife off of the table. Turn left and go to the sink. Wash the knife in the sink and then take it out. Turn around and go to the white table. Put the knife on the table."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Go to the right side of the white table. Grab the large knife off of the table. Turn left and go to the sink. Wash the knife in the sink and then take it out. Turn around and go to the white table. Put the knife on the table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
23
| 20,632
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and take two steps then turn left and walk to the table. Pick up the dirty wash cloth that's between two others on the table. Turn around and go stand on the right side of the sink and look across the sink at the left side. Wash the wash cloth in the sink and then pick it back up and shut off the water. Move a step to your right and walk back to where you got the dirty wash cloth from. Put the wash cloth on the second shelf to the left of the white object please.",
"Turn around and take two steps then turn left and walk to the table. Pick up the dirty wash cloth that's between two others on the table. Turn around and go stand on the left side of the sink and look across the sink at the right side. Wash the wash cloth in the sink and then pick it back up and shut off the water. Move a step to your right and walk back to where you got the dirty wash cloth from. Put the wash cloth on the second shelf to the left of the white object please.",
"Turn around and take two steps then turn left and walk to the table. Pick up the dirty wash cloth that's between two others on the table. Turn around and go stand on the left side of the sink and look across the sink at the right side. Wash the wash cloth in the sink and then pick it back up and shut off the water. Move a step to your right and walk back to where you got the dirty wash cloth from. Put the wash cloth on the second shelf to the right of the white object please.",
"Turn around and take three steps then turn left and walk to the table. Pick up the dirty wash cloth that's between two others on the table. Turn around and go stand on the left side of the sink and look across the sink at the right side. Wash the wash cloth in the sink and then pick it back up and shut off the water. Move a step to your right and walk back to where you got the dirty wash cloth from. Put the wash cloth on the second shelf to the left of the white object please."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn around and take two steps then turn left and walk to the table. Pick up the dirty wash cloth that's between two others on the table. Turn around and go stand on the left side of the sink and look across the sink at the right side. Wash the wash cloth in the sink and then pick it back up and shut off the water. Move a step to your right and walk back to where you got the dirty wash cloth from. Put the wash cloth on the second shelf to the left of the white object please.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
24
| 15,253
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go to the white table. Pick up the knife. Go to the fridge. Cut the bread in the fridge. Close the fridge. Put the knife in the top half of the fridge. Close the fridge. Take a slice of bread from the fridge. Go to the microwave. Heat the bread in the microwave. Go to the fridge. Put the bread in the fridge.",
"Go to the white table. Pick up the knife. Go to the fridge. Cut the bread in the fridge. Close the fridge. Put the knife in the bottom half of the fridge. Close the fridge. Take a slice of bread from the fridge. Go to the microwave. Heat the bread in the microwave. Go to the fridge. Put the bread in the fridge.",
"Go to the white table. Pick up the knife. Go to the fridge. Cut the bread in the fridge. Close the fridge. Put the knife in the bottom half of the fridge. Close the fridge. Take a slice of bread from the fridge. Go to the microwave. Heat the bread in the microwave. Go to the fridge. Put the bread on top of the fridge.",
"Go to the white table. Pick up the knife. Go to the fridge. Cut the bread in the fridge. Close the fridge. Put the knife in the bottom half of the fridge. Close the fridge. Take the bread from the fridge. Go to the microwave. Heat the bread in the microwave. Go to the fridge. Put the bread in the fridge."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Go to the white table. Pick up the knife. Go to the fridge. Cut the bread in the fridge. Close the fridge. Put the knife in the bottom half of the fridge. Close the fridge. Take a slice of bread from the fridge. Go to the microwave. Heat the bread in the microwave. Go to the fridge. Put the bread in the fridge.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
|
25
| 12,678
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Take left, walk a few steps, take left, walk to counter. Pick up butter knife on counter. Take right, walk to fridge. Open fridge, remove blue plate from shelf. Place knife on blue plate. Close fridge, take left, walk to counter on right. Set plate and knife down on counter next to bottle.",
"Take left, walk a few steps, take left, walk to counter. Pick up butter knife on counter. Take right, walk to fridge. Open fridge, place knife on blue plate. Remove blue plate and knife on shelf. Close fridge, take right, walk to counter on left. Set plate and knife down on counter next to bottle.",
"Take left, walk a few steps, take left, walk to counter. Pick up butter knife on counter. Take right, walk to fridge. Open fridge, place knife on blue plate. Remove blue plate and knife on shelf. Close fridge, take left, walk to counter on right. Set plate and knife down on counter next to bottle.",
"Take left, walk a few steps, take left, walk to counter. Pick up spoon on counter. Take right, walk to fridge. Open fridge, place spoon on blue plate. Remove blue plate and spoon on shelf. Close fridge, take left, walk to counter on right. Set plate and spoon down on counter next to bottle."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Take left, walk a few steps, take left, walk to counter. Pick up butter knife on counter. Take right, walk to fridge. Open fridge, place knife on blue plate. Remove blue plate and knife on shelf. Close fridge, take left, walk to counter on right. Set plate and knife down on counter next to bottle.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
26
| 19,079
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Walk forward to the dining table in front of you. Pick up the knife from the table. Walk slightly to the left and turn right towards the table. Put the knife in the bowl on the table. Pick up the bowl from the table. Turn left and walk forward to the counter on the right of the sink. Put the bowl on the counter, behind the knife.",
"Walk forward to the dining table in front of you. Pick up the spatula from the table. Walk slightly to the left and turn right towards the table. Put the spatula in the bowl on the table. Pick up the bowl from the table. Turn right and walk forward to the counter on the right of the sink. Put the bowl on the counter, behind the knife.",
"Walk forward to the dining table in front of you. Pick up the spatula from the table. Walk slightly to the left and turn right towards the table. Put the spatula in the bowl on the table. Pick up the bowl from the table. Turn left and walk forward to the counter on the right of the sink. Put the bowl on the counter, in front of the knife.",
"Walk forward to the dining table in front of you. Pick up the spatula from the table. Walk slightly to the left and turn right towards the table. Put the spatula in the bowl on the table. Pick up the bowl from the table. Turn left and walk forward to the counter on the right of the sink. Put the bowl on the counter, behind the knife."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Walk forward to the dining table in front of you. Pick up the spatula from the table. Walk slightly to the left and turn right towards the table. Put the spatula in the bowl on the table. Pick up the bowl from the table. Turn left and walk forward to the counter on the right of the sink. Put the bowl on the counter, behind the knife.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
27
| 12,540
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and find the toaster on the counter. Pick up the knife in front of the toaster. Take the knife and go to the right around the kitchen to find the stove. Place the knife in the front pan on the left side of the stove. Pick up the pan with the knife it in. Take the knife and pan and turn around to the coffee machine. Place the pan and knife on the table in front of the coffee machine.",
"Turn around and find the toaster on the counter. Pick up the knife in front of the toaster. Take the knife and go to the right around the kitchen to find the stove. Place the knife in the back pan on the left side of the stove. Pick up the pan with the knife in it. Take the knife and pan and turn around to the coffee machine. Place the pan and knife on the table in front of the coffee machine.",
"Turn around and find the toaster on the counter. Pick up the knife in front of the toaster. Take the knife and go to the left around the kitchen to find the stove. Place the knife in the front pan on the left side of the stove. Pick up the pan with the knife in it. Take the knife and pan and turn around to the coffee machine. Place the pan and knife on the table in front of the coffee machine.",
"Turn around and find the toaster on the counter. Pick up the knife in front of the toaster. Take the knife and go to the right around the kitchen to find the stove. Place the knife in the front pan on the left side of the stove. Pick up the pan with the knife in it. Take the knife and pan and turn around to the coffee machine. Place the pan on the table in front of the coffee machine and set the knife down on the table beside the pan."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn around and find the toaster on the counter. Pick up the knife in front of the toaster. Take the knife and go to the right around the kitchen to find the stove. Place the knife in the front pan on the left side of the stove. Pick up the pan with the knife it in. Take the knife and pan and turn around to the coffee machine. Place the pan and knife on the table in front of the coffee machine.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
28
| 14,945
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Walk to the stove on your right. Grab the pot off the stove. Walk to the front of the fridge. Place the pot in the fridge, close the fridge, then open the fridge and grab the pot. Walk to the corner of the kitchen counter. Place the pot in the bottom right cabinet.",
"Walk to the stove on your right. Grab the pot off the stove. Walk to the front of the fridge. Place the pot in the fridge, then open the fridge and grab the pot, and close the fridge afterward. Walk to the corner of the kitchen counter. Place the pot in the bottom right cabinet.",
"Walk to the stove on your right. Grab the pot off the stove. Walk to the front of the fridge. Place the pot in the fridge, close the fridge, then open the fridge and grab the pot. Walk to the corner of the kitchen counter. Place the pot in the bottom left cabinet.",
"Walk to the stove on your left. Grab the pot off the stove. Walk to the front of the fridge. Place the pot in the fridge, close the fridge, then open the fridge and grab the pot. Walk to the corner of the kitchen counter. Place the pot in the bottom right cabinet."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Walk to the stove on your right. Grab the pot off the stove. Walk to the front of the fridge. Place the pot in the fridge, close the fridge, then open the fridge and grab the pot. Walk to the corner of the kitchen counter. Place the pot in the bottom right cabinet.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
29
| 8,803
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and step forward then turn left and walk to the left hand corner of the bed. Pick up the book that is sitting on the bed. Turn left and cross the room to the wall, then make a right and cross the room, and turn right to face the night stand. Place the book on the night stand in front of the lamp.",
"Turn around and step forward then turn left and walk to the right hand corner of the bed. Pick up the book that is sitting on the bed. Turn left and cross the room to the wall, then make a right and cross the room, and turn right to face the night stand. Place the book on the night stand in front of the lamp.",
"Turn around and step forward then turn left and walk to the right hand corner of the bed. Pick up the phone that is sitting on the bed. Turn left and cross the room to the wall, then make a right and cross the room, and turn right to face the night stand. Place the phone on the night stand in front of the lamp.",
"Turn around and step forward then turn left and walk to the right hand corner of the bed. Pick up the book that is sitting on the bed. Turn left and cross the room to the wall, then make a right and cross the room, and turn right to face the night stand. Place the book on the night stand to the right of the lamp."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn around and step forward then turn left and walk to the right hand corner of the bed. Pick up the book that is sitting on the bed. Turn left and cross the room to the wall, then make a right and cross the room, and turn right to face the night stand. Place the book on the night stand in front of the lamp.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
30
| 10,077
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left and take a left at the wall to reach the small black table. Pick up the blue credit card in the middle of the table. Turn left and walk to wooden desk to the left. Put the credit card on the black shelf below the desk to the right of the clock.",
"Turn left and take a left at the wall to reach the small black table. Pick up the blue credit card in the middle of the table. Put the credit card on the black shelf below the desk to the right of the clock. Turn left and walk to wooden desk to the left.",
"Turn left and take a left at the wall to reach the small black table. Pick up the blue credit card in the middle of the table. Turn left and walk to wooden desk to the left. Put the credit card on the black shelf below the desk to the left of the clock.",
"Turn right and take a left at the wall to reach the small black table. Pick up the blue credit card in the middle of the table. Turn left and walk to wooden desk to the left. Put the credit card on the black shelf below the desk to the right of the clock."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn left and take a left at the wall to reach the small black table. Pick up the blue credit card in the middle of the table. Turn left and walk to wooden desk to the left. Put the credit card on the black shelf below the desk to the right of the clock.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
31
| 7,482
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left and face toward the white table. Pick up the spatula behind the box from the table. Turn left then face back toward the same white table. Put the spatula into the blue bowl on the table. Pick up the blue bowl from the table. Move slightly left to face the small dark table just left of the white table. Put the blue bowl down on the small dark table.",
"Turn left and face toward the white table. Pick up the spatula behind the box from the table. Turn left then face back toward the same white table. Pick up the blue bowl from the table. Put the spatula into the blue bowl. Move slightly left to face the small dark table just left of the white table. Put the blue bowl down on the small dark table.",
"Turn left and face toward the white table. Pick up the spatula behind the box from the table. Turn left then face back toward the same white table. Put the spatula into the blue bowl on the table. Pick up the blue bowl from the table. Move slightly right to face the small dark table just right of the white table. Put the blue bowl down on the small dark table.",
"Turn left and face toward the white table. Pick up the spatula behind the box from the table. Turn left then face back toward the same white table. Put the spatula into the white cup on the table. Pick up the blue bowl from the table. Move slightly left to face the small dark table just left of the white table. Put the blue bowl down on the small dark table."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn left and face toward the white table. Pick up the spatula behind the box from the table. Turn left then face back toward the same white table. Put the spatula into the blue bowl on the table. Pick up the blue bowl from the table. Move slightly left to face the small dark table just left of the white table. Put the blue bowl down on the small dark table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
32
| 1,918
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Move forward to just past the island, turn left and move forward to the counter right of the stove, turn right and move to the counter. Pick up the knife. Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. Slice the lettuce. Turn right, move past the island, turn right, move to the fridge. Open the fridge doors, put the knife in the freezer, close the doors. Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. Pick up a slice of lettuce. turn right, move to past the island, turn right, move to the fridge,. OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 7 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. Drop the lettuce.",
"Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. Pick up the knife. Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. Slice the lettuce. Turn right, move past the island, turn right, move to the fridge. Open the fridge doors, put the knife in the freezer, close the doors. Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. Pick up a slice of lettuce. turn right, move to past the island, turn right, move to the fridge,. OPen the fridge doors, put the lettuce on the top fridge shelf, wait 7 seconds, close the fridge doors, open the fridge doors, remove the lettuce slice, close the fridge doors. Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. Drop the lettuce.",
"Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. Pick up the knife. Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. Slice the lettuce. Turn right, move past the island, turn right, move to the fridge. Open the fridge doors, put the knife in the freezer, close the doors. Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. Pick up a slice of lettuce. turn right, move to past the island, turn right, move to the fridge,. OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 7 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. Drop the lettuce.",
"Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. Pick up the knife. Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. Slice the lettuce. Turn right, move past the island, turn right, move to the fridge. Open the fridge doors, put the knife in the freezer, close the doors. Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. Pick up a slice of lettuce. turn right, move to past the island, turn right, move to the fridge,. OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 5 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. Drop the lettuce."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. Pick up the knife. Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. Slice the lettuce. Turn right, move past the island, turn right, move to the fridge. Open the fridge doors, put the knife in the freezer, close the doors. Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. Pick up a slice of lettuce. turn right, move to past the island, turn right, move to the fridge,. OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 7 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. Drop the lettuce.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
|
33
| 13,992
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn right towards the window and turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault. Turn left towards the bed and then turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault.",
"Turn right towards the window and turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault. Turn left towards the bed and then turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault and close.",
"Turn right towards the window and turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the bin on your left. Place the CD in the bin. Turn left towards the bed and then turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault and close.",
"Turn right towards the window and turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn right towards the bin, turn right towards the vault on your left. Place the CD in the vault. Turn left towards the bed and then turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault and close."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn right towards the window and turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault. Turn left towards the bed and then turn right towards the desk. Pick up the CD from the desk. Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. Place the CD in the vault and close.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9>
| 8
| 10
|
|
34
| 18,890
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left and head towards the sink. Pick up the fork from the counter. Turn around, look and turn back to the sink. Wash the fork in the sink. Pick up the fork, turn around and head to the table. Set the fork on the counter next to the table.",
"Turn left and head towards the sink. Pick up the knife from the counter. Turn around, look and turn back to the sink. Wash the knife in the sink. Pick up the knife, turn around and head to the table. Set the knife on the table.",
"Turn left and head towards the sink. Pick up the fork from the counter. Turn around, look and turn back to the sink. Wash the fork in the sink. Pick up the fork, turn around and head to the table. Set the fork on the table.",
"Turn right and head towards the sink. Pick up the fork from the counter. Turn around, look and turn back to the sink. Wash the fork in the sink. Pick up the fork, turn around and head to the table. Set the fork on the table."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Turn left and head towards the sink. Pick up the fork from the counter. Turn around, look and turn back to the sink. Wash the fork in the sink. Pick up the fork, turn around and head to the table. Set the fork on the table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
35
| 13,720
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn to the left and walk to the refrigerator. Open the door and remove the cup from the shelf. Turn around to the right and walk to the microwave. Open the microwave, place the cup inside, close the microwave. Start the microwave. Open the microwave, remove the cup, close the microwave. Turn to the left and walk to the refrigerator. Open the refrigerator, place the cup inside, close the refrigerator.",
"Turn to the right and walk to the refrigerator. Open the door and remove the cup from the shelf. Turn around to the right and walk to the microwave. Open the microwave, place the cup inside, close the microwave. Start the microwave. Open the microwave, remove the cup, close the microwave. Turn to the left and walk to the refrigerator. Open the refrigerator, place the cup inside, close the refrigerator.",
"Turn to the right and walk to the refrigerator. Open the door and remove the cup from the shelf. Turn around to the right and walk to the microwave. Open the microwave, place the cup inside, close the microwave. Start the microwave. Open the microwave, remove the cup, close the microwave. Turn to the left and walk to the refrigerator. Open the refrigerator, place the cup inside, leave the refrigerator door open.",
"Turn to the right and walk to the refrigerator. Open the door and remove the cup from the shelf. Turn around to the right and walk to the microwave. Open the microwave, place the cup inside, start the microwave, close the microwave. Open the microwave, remove the cup, close the microwave. Turn to the left and walk to the refrigerator. Open the refrigerator, place the cup inside, close the refrigerator."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn to the right and walk to the refrigerator. Open the door and remove the cup from the shelf. Turn around to the right and walk to the microwave. Open the microwave, place the cup inside, close the microwave. Start the microwave. Open the microwave, remove the cup, close the microwave. Turn to the left and walk to the refrigerator. Open the refrigerator, place the cup inside, close the refrigerator.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
36
| 7,205
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Walk forward and turn and face the end of the counter. Take the knife from the counter. Turn right, then left and approach the lettuce on the counter to the right. Slice the lettuce on the right. Turn left, then right and walk to the sink. Put the knife in the sink. Turn around and walk toward the fridge then turn right and walk back to the lettuce on the left. Take a slice of lettuce on the counter. Turn left and walk to the fridge on the right. Open the fridge, put the lettuce inside, and close the door. Then, wait a few seconds and remove the lettuce, leaving the fridge door open. Turn around and walk back to the sink. Put the lettuce in the sink.",
"Walk forward and turn and face the end of the counter. Take the knife from the counter. Turn right, then left and approach the lettuce on the counter to the right. Slice the lettuce on the right. Turn left, then right and walk to the sink. Put the knife in the sink. Turn around and walk toward the fridge then turn right and walk back to the lettuce on the right. Take a slice of lettuce on the counter. Turn left and walk to the fridge on the right. Open the fridge, put the lettuce inside, and close the door. Then, wait a few seconds and remove the lettuce. Close the door. Turn around and walk back to the sink. Put the lettuce in the sink.",
"Walk forward and turn and face the end of the counter. Take the knife from the counter. Turn right, then left and approach the lettuce on the counter to the right. Slice the lettuce on the right. Turn left, then right and walk to the sink. Put the knife on the counter next to the sink. Turn around and walk toward the fridge then turn right and walk back to the lettuce on the left. Take a slice of lettuce on the counter. Turn left and walk to the fridge on the right. Open the fridge, put the lettuce inside, and close the door. Then, wait a few seconds and remove the lettuce. Close the door. Turn around and walk back to the sink. Put the lettuce in the sink.",
"Walk forward and turn and face the end of the counter. Take the knife from the counter. Turn right, then left and approach the lettuce on the counter to the right. Slice the lettuce on the right. Turn left, then right and walk to the sink. Put the knife in the sink. Turn around and walk toward the fridge then turn right and walk back to the lettuce on the left. Take a slice of lettuce on the counter. Turn left and walk to the fridge on the right. Open the fridge, put the lettuce inside, and close the door. Then, wait a few seconds and remove the lettuce. Close the door. Turn around and walk back to the sink. Put the lettuce in the sink."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Walk forward and turn and face the end of the counter. Take the knife from the counter. Turn right, then left and approach the lettuce on the counter to the right. Slice the lettuce on the right. Turn left, then right and walk to the sink. Put the knife in the sink. Turn around and walk toward the fridge then turn right and walk back to the lettuce on the left. Take a slice of lettuce on the counter. Turn left and walk to the fridge on the right. Open the fridge, put the lettuce inside, and close the door. Then, wait a few seconds and remove the lettuce. Close the door. Turn around and walk back to the sink. Put the lettuce in the sink.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
|
37
| 15,323
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left and face the small black table next to the wall to the right. Pick up the butter knife near the edge of the table. Turn around and walk to the round black table. Place the butter knife in the black cup farthest from the brown weight. Pick up the black cup with the butter knife inside of it. Turn around and walk to the small black table. Place the cup with the butter knife to the left of the square plate on the table.",
"Turn left and face the small black table next to the wall to the left. Pick up the butter knife near the edge of the table. Turn around and walk to the round black table. Place the butter knife in the black cup closest to the brown weight. Pick up the black cup with the butter knife inside of it. Turn around and walk to the small black table. Place the cup with the butter knife to the left of the square plate on the table.",
"Turn left and face the small black table next to the wall to the right. Pick up the butter knife near the edge of the table. Turn around and walk to the round black table. Place the butter knife in the black cup closest to the brown weight. Pick up the black cup with the butter knife inside of it. Turn around and walk to the small black table. Place the cup with the butter knife to the right of the square plate on the table.",
"Turn left and face the small black table next to the wall to the right. Pick up the butter knife near the edge of the table. Turn around and walk to the round black table. Place the butter knife in the black cup closest to the brown weight. Pick up the black cup with the butter knife inside of it. Turn around and walk to the small black table. Place the cup with the butter knife to the left of the square plate on the table."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Turn left and face the small black table next to the wall to the right. Pick up the butter knife near the edge of the table. Turn around and walk to the round black table. Place the butter knife in the black cup closest to the brown weight. Pick up the black cup with the butter knife inside of it. Turn around and walk to the small black table. Place the cup with the butter knife to the left of the square plate on the table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
38
| 14,703
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left walk toward dishwasher, Turn left and walk toward counter next to oven. pick up lettuce and bring it to front of counter. take lettuce over the counter next to the toaster. put lettuce on counter. pick up knife on the left. cut lettuce into slices. set the knife down between slices on counter top. pick up a lettuce slice off of the counter. take lettuce slice over to stove. set lettuce into the pot. remove the pot from off the stove. walk over to the counter to the left of the sink. set the pot on the counter.",
"Turn left walk toward dishwasher, Turn left and walk toward counter next to oven. pick up lettuce and bring it to front of counter. take lettuce over the counter next to the toaster. put lettuce on counter. pick up knife on the left. cut lettuce into slices. set the knife down between slices on counter top. pick up a lettuce slice off of the counter. take lettuce slice over to stove. remove the pot from off the stove. set lettuce into the pot. walk over to the counter to the right of the sink. set the pot on the counter.",
"Turn left walk toward dishwasher, Turn left and walk toward counter next to oven. pick up lettuce and bring it to front of counter. take lettuce over the counter next to the toaster. put lettuce on counter. pick up knife on the left. cut lettuce into slices. set the knife down between slices on counter top. pick up a lettuce slice off of the counter. take lettuce slice over to stove. set lettuce into the pot. remove the pot from off the stove. walk over to the counter to the right of the sink. set the pot on the counter.",
"Turn left walk toward dishwasher, Turn left and walk toward counter next to oven. pick up lettuce and bring it to front of counter. take lettuce over the counter next to the toaster. put lettuce on counter. pick up knife on the left. cut lettuce into slices. set the knife down between slices on counter top. pick up the potato off of the counter. take potato over to stove. set potato into the pot. remove the pot from off the stove. walk over to the counter to the right of the sink. set the pot on the counter."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Turn left walk toward dishwasher, Turn left and walk toward counter next to oven. pick up lettuce and bring it to front of counter. take lettuce over the counter next to the toaster. put lettuce on counter. pick up knife on the left. cut lettuce into slices. set the knife down between slices on counter top. pick up a lettuce slice off of the counter. take lettuce slice over to stove. set lettuce into the pot. remove the pot from off the stove. walk over to the counter to the right of the sink. set the pot on the counter.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13> <image_14>
| 13
| 15
|
|
39
| 19,878
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn right, walk to the night stand, turn left, walk to the table. Grab the disc on the table. Turn left and turn left, walk to the AC. Turn on the lamp on the table.",
"Turn right, walk to the night stand, turn right, walk to the table. Grab the disc on the table. Turn left and turn left, walk to the AC. Turn on the lamp on the table.",
"Turn right, walk to the night stand, turn left, walk to the table. Grab the disc on the table. Turn left and turn left, walk to the AC. Turn on the lamp on the night stand.",
"Turn right, walk to the night stand, turn left, walk to the table. Grab the book on the table. Turn left and turn left, walk to the AC. Turn on the lamp on the table."
] |
[
"A",
"B",
"C",
"D"
] | 0
|
A
|
Turn right, walk to the night stand, turn left, walk to the table. Grab the disc on the table. Turn left and turn left, walk to the AC. Turn on the lamp on the table.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
40
| 18,635
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go to the sofa. Pick up the credit card from the sofa. Go to the box on the sofa. Place the credit card in the box. Pick up the box. Go to the wooden TV stand next to the round black table. Place the box on the wooden TV stand.",
"Go to the sofa. Pick up the credit card from the sofa. Go to the box on the sofa. Pick up the box. Go to the round black table. Place the box on the round black table. Place the credit card in the box.",
"Go to the sofa. Pick up the credit card from the sofa. Go to the box on the sofa. Place the credit card in the box. Pick up the box. Go to the round black table. Place the box on the round black table.",
"Go to the round black table. Pick up the credit card from the round black table. Go to the box on the sofa. Place the credit card in the box. Pick up the box. Go to the round black table. Place the box on the round black table."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Go to the sofa. Pick up the credit card from the sofa. Go to the box on the sofa. Place the credit card in the box. Pick up the box. Go to the round black table. Place the box on the round black table.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8>
| 7
| 9
|
|
41
| 13,933
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left, go towards the window and look down to the left. Pick up the tea pot from the floor. Turn left, go halfway across the room, turn left, go across the room, turn right, go across the room and turn right to the coffee table. Put the tea pot on the coffee table.",
"Turn left, go towards the window and look down to the left. Pick up the tea pot from the floor. Turn left, go across the room, turn left, go across the room, turn right, go across the room and turn right to the dresser. Put the tea pot on the dresser.",
"Turn left, go towards the window and look down to the left. Pick up the tea pot from the floor. Turn left, go halfway across the room, turn left, go across the room, turn right, go across the room and turn right to the dresser. Put the tea pot on the dresser.",
"Turn left, go towards the window and look down to the right. Pick up the tea pot from the floor. Turn left, go halfway across the room, turn left, go across the room, turn right, go across the room and turn right to the dresser. Put the tea pot on the dresser."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Turn left, go towards the window and look down to the left. Pick up the tea pot from the floor. Turn left, go halfway across the room, turn left, go across the room, turn right, go across the room and turn right to the dresser. Put the tea pot on the dresser.
|
<image_2> <image_3> <image_4> <image_5>
| 4
| 6
|
|
42
| 2,758
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and go to the counter between the fridge and stove. Pick up the butter knife that is on the counter. Move over to the right to stand in front of the lettuce that is on the counter. Use the knife to cut the lettuce into slices. Pick up a slice of the lettuce. Put the butter knife down on the counter. Turn to the left and go to the fridge. Open the fridge, put the lettuce inside, close the fridge, open the fridge, remove the lettuce, close the fridge. Turn to the right, go to the end of the room, take a right and go to the garbage can. Put the lettuce in the garbage can.",
"Turn around and go to the counter between the fridge and stove. Pick up the butter knife that is on the counter. Move over to the left to stand in front of the lettuce that is on the counter. Use the knife to cut the lettuce into slices. Put the butter knife down on the counter. Pick up a slice of the lettuce. Turn to the left and go to the fridge. Open the fridge, put the lettuce inside, close the fridge, open the fridge, remove the lettuce, close the fridge. Turn to the right, go to the end of the room, take a right and go to the garbage can. Put the lettuce in the garbage can.",
"Turn around and go to the counter between the fridge and stove. Pick up the butter knife that is on the counter. Move over to the right to stand in front of the lettuce that is on the counter. Use the knife to cut the lettuce into slices. Put the butter knife down on the counter. Pick up the lettuce. Turn to the left and go to the fridge. Open the fridge, put the lettuce inside, close the fridge, open the fridge, remove the lettuce, close the fridge. Turn to the right, go to the end of the room, take a right and go to the garbage can. Put the lettuce in the garbage can.",
"Turn around and go to the counter between the fridge and stove. Pick up the butter knife that is on the counter. Move over to the right to stand in front of the lettuce that is on the counter. Use the knife to cut the lettuce into slices. Put the butter knife down on the counter. Pick up a slice of the lettuce. Turn to the left and go to the fridge. Open the fridge, put the lettuce inside, close the fridge, open the fridge, remove the lettuce, close the fridge. Turn to the right, go to the end of the room, take a right and go to the garbage can. Put the lettuce in the garbage can."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Turn around and go to the counter between the fridge and stove. Pick up the butter knife that is on the counter. Move over to the right to stand in front of the lettuce that is on the counter. Use the knife to cut the lettuce into slices. Put the butter knife down on the counter. Pick up a slice of the lettuce. Turn to the left and go to the fridge. Open the fridge, put the lettuce inside, close the fridge, open the fridge, remove the lettuce, close the fridge. Turn to the right, go to the end of the room, take a right and go to the garbage can. Put the lettuce in the garbage can.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11>
| 10
| 12
|
|
43
| 16,433
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and go back, then left around the island and face it on the left. Pick up the knife from the far side of the island. Hold the knife and turn around to the sink. Place the knife in the sink, turn on the water and off again. Pick up the knife from the sink. Hold the knife and turn around to the island. Place the knife on the island, in the front left.",
"Turn around and go back, then left around the island and face it on the left. Pick up the knife from the far side of the island. Hold the knife and turn around to the sink. Place the knife in the sink, turn on the water and off again. Pick up the knife from the sink. Hold the knife and turn around to the island. Place the knife on the island, in the front center.",
"Turn around and go back, then left around the island and face it on the left. Pick up the knife from the near side of the island. Hold the knife and turn around to the sink. Place the knife in the sink, turn on the water and off again. Pick up the knife from the sink. Hold the knife and turn around to the island. Place the knife on the island, in the front center.",
"Turn around and go back, then left around the island and face it on the left. Pick up the knife from the far side of the island. Hold the knife and turn around to the sink. Place the knife in the sink, turn on the water. Pick up the knife from the sink, then turn off the water. Hold the knife and turn around to the island. Place the knife on the island, in the front center."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn around and go back, then left around the island and face it on the left. Pick up the knife from the far side of the island. Hold the knife and turn around to the sink. Place the knife in the sink, turn on the water and off again. Pick up the knife from the sink. Hold the knife and turn around to the island. Place the knife on the island, in the front center.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
44
| 3,701
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Move to the counter to the left of the sink. Pick up a scoop from the counter. Move to the sink to the left of you. Clean the scoop in the sink and pick it back up. Move to the counter to the right of the sink. Place the scoop in the drawer farthest from the sink.",
"Move to the counter to the right of the sink. Pick up a scoop from the counter. Move to the sink to the right of you. Clean the scoop in the sink and pick it back up. Move to the counter to the right of the sink. Place the scoop in the drawer farthest from the sink.",
"Move to the counter to the right of the sink. Pick up a scoop from the counter. Move to the sink to the left of you. Clean the scoop in the sink and pick it back up. Move to the counter to the right of the sink. Place the scoop in the drawer closest to the sink.",
"Move to the counter to the right of the sink. Pick up a scoop from the counter. Move to the sink to the left of you. Clean the scoop in the sink and pick it back up. Move to the counter to the right of the sink. Place the scoop in the drawer farthest from the sink."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Move to the counter to the right of the sink. Pick up a scoop from the counter. Move to the sink to the left of you. Clean the scoop in the sink and pick it back up. Move to the counter to the right of the sink. Place the scoop in the drawer farthest from the sink.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
45
| 15,630
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Go halfway across the room and turn right to the counter with the kettle on it. Pick up the knife on the counter. Turn left and go to the dishwasher. Cut the bread on the counter above the dishwasher. Turn around and face the sink. Put the knife in the cabinet below the sink. Pick up a slice of bread. Go back to the sliced bread on the counter. Turn right and go across the room to the fridge. Chill the slice of bread in the fridge and pick it back up. Turn left and go to the microwave on the counter. Put the slice of bread in the microwave.",
"Go halfway across the room and turn right to the counter with the kettle on it. Pick up the knife on the counter. Turn left and go to the dishwasher. Cut the bread on the counter above the dishwasher. Turn around and face the sink. Put the knife in the cabinet above the sink. Go back to the sliced bread on the counter. Pick up a slice of bread. Turn right and go across the room to the fridge. Chill the slice of bread in the fridge and pick it back up. Turn left and go to the microwave on the counter. Put the slice of bread in the microwave.",
"Go halfway across the room and turn right to the counter with the kettle on it. Pick up the knife on the counter. Turn left and go to the dishwasher. Cut the bread on the counter above the dishwasher. Turn around and face the sink. Put the knife in the cabinet below the sink. Go back to the sliced bread on the counter. Pick up a slice of bread. Turn right and go across the room to the fridge. Chill the slice of bread in the fridge and pick it back up. Turn left and go to the microwave on the counter. Put the slice of bread in the microwave.",
"Go halfway across the room and turn right to the counter with the kettle on it. Pick up the knife on the counter. Turn left and go to the dishwasher. Cut the bread on the counter above the dishwasher. Turn around and face the sink. Put the knife in the cabinet below the sink. Go back to the sliced bread on the counter. Pick up a slice of bread. Turn left and go across the room to the fridge. Chill the slice of bread in the fridge and pick it back up. Turn left and go to the microwave on the counter. Put the slice of bread in the microwave."
] |
[
"A",
"B",
"C",
"D"
] | 2
|
C
|
Go halfway across the room and turn right to the counter with the kettle on it. Pick up the knife on the counter. Turn left and go to the dishwasher. Cut the bread on the counter above the dishwasher. Turn around and face the sink. Put the knife in the cabinet below the sink. Go back to the sliced bread on the counter. Pick up a slice of bread. Turn right and go across the room to the fridge. Chill the slice of bread in the fridge and pick it back up. Turn left and go to the microwave on the counter. Put the slice of bread in the microwave.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
|
46
| 19,307
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around, hang left at the chair towards the wall, turn right and walk to the cook top range on the left. Pick up the tea kettle on the right side of the cook top range. Turn around, hang a left at the counter, turn right at the next counter and walk to the sink on the left. Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. Turn right, hang a right at the fridge and turn around to face the cabinets next to the dishwasher. Open the tall cabinet to the right of the dishwasher, put the rinsed tea kettle inside and close the door.",
"Turn around, hang left at the chair towards the wall, turn right and walk to the cook top range on the left. Pick up the tea kettle in the middle of the cook top range. Turn around, hang a left at the counter, turn right at the next counter and walk to the sink on the right. Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. Turn right, hang a right at the fridge and turn around to face the cabinets next to the dishwasher. Open the tall cabinet to the right of the dishwasher, put the rinsed tea kettle inside and close the door.",
"Turn around, hang left at the chair towards the wall, turn right and walk to the cook top range on the left. Pick up the tea kettle in the middle of the cook top range. Turn around, hang a left at the counter, turn right at the next counter and walk to the sink on the left. Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. Turn right, hang a right at the fridge and turn around to face the cabinets next to the dishwasher. Open the tall cabinet to the left of the dishwasher, put the rinsed tea kettle inside and close the door.",
"Turn around, hang left at the chair towards the wall, turn right and walk to the cook top range on the left. Pick up the tea kettle in the middle of the cook top range. Turn around, hang a left at the counter, turn right at the next counter and walk to the sink on the left. Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. Turn right, hang a right at the fridge and turn around to face the cabinets next to the dishwasher. Open the tall cabinet to the right of the dishwasher, put the rinsed tea kettle inside and close the door."
] |
[
"A",
"B",
"C",
"D"
] | 3
|
D
|
Turn around, hang left at the chair towards the wall, turn right and walk to the cook top range on the left. Pick up the tea kettle in the middle of the cook top range. Turn around, hang a left at the counter, turn right at the next counter and walk to the sink on the left. Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. Turn right, hang a right at the fridge and turn around to face the cabinets next to the dishwasher. Open the tall cabinet to the right of the dishwasher, put the rinsed tea kettle inside and close the door.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
47
| 1,408
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn left and move towards the door then turn left move towards the refrigerator then turn left and face the table. Pick up the head of lettuce on top of the sponge from the table. Turn right and move towards the wall then turn left and face the refrigerator. Open the refrigerator, place the lettuce on the plate on the top shelf, close the refrigerator, wait, open the refrigerator, pick up the lettuce from the top shelf and close the refrigerator door. Turn left and move towards the kitchen counter then turn right and face the table. Place the lettuce on the table between the knife and the goblet.",
"Turn left and move towards the door then turn left move towards the refrigerator then turn left and face the table. Pick up the head of lettuce on top of the sponge from the table. Turn right and move towards the wall then turn left and face the refrigerator. Open the refrigerator, place the lettuce on the plate on the top shelf, close the refrigerator, wait, open the refrigerator, pick up the lettuce from the top shelf and close the refrigerator door. Turn left and move towards the kitchen counter then turn right and face the table. Place the lettuce on the table between the sponge and the knife.",
"Turn left and move towards the door then turn left move towards the refrigerator then turn left and face the table. Pick up the head of lettuce on top of the sponge from the table. Turn right and move towards the wall then turn left and face the refrigerator. Open the refrigerator, place the lettuce on the plate on the middle shelf, close the refrigerator, wait, open the refrigerator, pick up the lettuce from the middle shelf and close the refrigerator door. Turn left and move towards the kitchen counter then turn right and face the table. Place the lettuce on the table between the sponge and the knife.",
"Turn left and move towards the door then turn left move towards the refrigerator then turn left and face the table. Pick up the head of lettuce on top of the sponge from the table. Turn right and move towards the wall then turn left and face the refrigerator. Open the refrigerator, place the lettuce on the plate on the top shelf, close the refrigerator, wait, open the refrigerator, pick up the lettuce from the top shelf and close the refrigerator door. Turn right and move towards the kitchen counter then turn right and face the table. Place the lettuce on the table between the sponge and the knife."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn left and move towards the door then turn left move towards the refrigerator then turn left and face the table. Pick up the head of lettuce on top of the sponge from the table. Turn right and move towards the wall then turn left and face the refrigerator. Open the refrigerator, place the lettuce on the plate on the top shelf, close the refrigerator, wait, open the refrigerator, pick up the lettuce from the top shelf and close the refrigerator door. Turn left and move towards the kitchen counter then turn right and face the table. Place the lettuce on the table between the sponge and the knife.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7>
| 6
| 8
|
|
48
| 7,197
|
Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image).
<image_0> <image_1>
|
[
"Turn around and go to the counter on the left of the stove. Pick up the gray knife on the counter. Turn around and go to the white round table on the opposite side. Slice the bread behind the two white cups closer to the edge of the table. Turn left and go to the trash can at the end of the counter. Place the gray knife in the trash can. Turn around and go back to the white round table. Pick up a slice of bread. Turn around and go to the refrigerator on the opposite side of the kitchen. Chill the bread in the refrigerator and take it out. Turn right to go to the trash can at the end of the counter. Place the chilled bread on the counter next to the trash can.",
"Turn around and go to the counter on the left of the stove. Pick up the gray knife on the counter. Turn around and go to the white round table on the opposite side. Slice the bread behind the two white cups closer to the edge of the table. Turn left and go to the trash can at the end of the counter. Place the gray knife in the trash can. Turn around and go back to the white round table. Pick up a slice of bread. Turn around and go to the refrigerator on the opposite side of the kitchen. Chill the bread in the refrigerator and take it out. Turn right to go to the trash can at the end of the counter. Place the chilled bread in the trash can.",
"Turn around and go to the counter on the left of the stove. Pick up the gray knife on the counter. Turn around and go to the white round table on the opposite side. Slice the bread behind the two white cups closer to the edge of the table. Turn left and go to the trash can at the end of the counter. Place the gray knife in the trash can. Turn around and go back to the white round table. Pick up a slice of bread. Turn around and go to the refrigerator on the opposite side of the kitchen. Chill the bread in the refrigerator and take it out. Turn left to go to the trash can at the end of the counter. Place the chilled bread in the trash can.",
"Turn around and go to the counter on the left of the stove. Pick up the gray knife on the counter. Turn around and go to the white round table on the opposite side. Slice the bread in front of the two white cups closer to the edge of the table. Turn left and go to the trash can at the end of the counter. Place the gray knife in the trash can. Turn around and go back to the white round table. Pick up a slice of bread. Turn around and go to the refrigerator on the opposite side of the kitchen. Chill the bread in the refrigerator and take it out. Turn right to go to the trash can at the end of the counter. Place the chilled bread in the trash can."
] |
[
"A",
"B",
"C",
"D"
] | 1
|
B
|
Turn around and go to the counter on the left of the stove. Pick up the gray knife on the counter. Turn around and go to the white round table on the opposite side. Slice the bread behind the two white cups closer to the edge of the table. Turn left and go to the trash can at the end of the counter. Place the gray knife in the trash can. Turn around and go back to the white round table. Pick up a slice of bread. Turn around and go to the refrigerator on the opposite side of the kitchen. Chill the bread in the refrigerator and take it out. Turn right to go to the trash can at the end of the counter. Place the chilled bread in the trash can.
|
<image_2> <image_3> <image_4> <image_5> <image_6> <image_7> <image_8> <image_9> <image_10> <image_11> <image_12> <image_13>
| 12
| 14
|
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