On Grounded Planning for Embodied Tasks with Language Models
Paper
• 2209.00465 • Published
• 1
Datasets:
id stringlengths 31 31 | input_task stringlengths 6 164 | input_table sequence | input_table_md stringlengths 3.62k 13.5k | output_text sequence | output_list sequence | label stringclasses 1 value |
|---|---|---|---|---|---|---|
trial_T20190909_094258_737509-0 | examine keys with the lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.75 0 0 0
1 Mug 0.573 0.075 -2.825 0 0 0 33
2 CD -2.745 0.082 -3.055 0 0 0 30
3 CD 1.828 0.093 -3.049 0 90 0 54
4 CellPhone 1.828 0.097 -3.049 0 90 0 54
5 CellPhone -3.265 0.194 3.195 0 149.999 0 55
6 Pen 1.537 0.552 2.440 0 270 0 56
7 Pencil -1.227 1.119 -3.073 0 0 0 36
8 Pencil -1.337 0.587 -2.830 0 0 0 32
9 Book 0.104 0.832 1.456 0 0 0 29
10 KeyChain -1.227 1.117 -2.902 0 0 0 36
11 KeyChain 1.681 0.554 2.342 0 90 0 56
12 KeyChain 1.657 0.553 2.181 0 180 0 56
13 RemoteControl -0.602 1.118 -3.158 0 0 0 36
14 AlarmClock -2.164 1.118 -3.158 0 0 0 36
15 Book -1.337 0.082 -2.882 0 0 0 34
16 AlarmClock 1.536 0.547 2.299 0 238.148 0 56
17 CellPhone -0.098 0.587 -2.830 0 0 0 31
18 Pillow 1.243 0.940 1.215 0 0 0 29
19 Pillow 1.243 0.940 0.255 0 0 0 29
20 TeddyBear 1.868 0.036 -0.561 0 59.999 0 Floor|-00.06|
21 CreditCard -0.893 0.084 -2.726 0 0 0 34
22 KeyChain -1.851 1.117 -2.732 0 0 0 36
23 Pencil -3.292 0.377 -2.777 0 4.809 0 38
24 Laptop 0.104 0.830 0.015 0 0 0 29
25 RemoteControl -1.539 1.118 -2.902 0 0 0 36
26 CD -0.543 0.082 -2.934 0 0 0 35
27 Pen -1.16 0.590 -2.882 0 0 0 32
28 Mug 0.573 0.075 -3.077 0 0 0 33
29 Bed 0.967 0.049 0.667 0 90 0
30 Cabinet -3.0 1.497 -2.643 0 0 0
31 Drawer -0.365 0.785 -2.848 0 0 0
32 Drawer -1.159 0.785 -2.848 0 0 0
33 Cabinet 2.064 1.497 -2.643 0 0 0
34 Drawer -1.159 0.285 -2.848 0 0 0
35 Drawer -0.365 0.285 -2.848 0 0 0
36 Desk -1.271 1.169 -2.987 0 0 0
37 LightSwitch -0.159 1.281 3.999 0 180 0
38 GarbageCan -3.338 0.022 -2.797 0 4.809 0
39 HousePlant -0.195 1.105 -3.084 0 0 0
40 DeskLamp 1.863 0.581 2.431 0 0 0
41 Mirror -1.603 1.447 3.999 0 0 0
42 Television -3.883 1.771 2.122 0 90 0
43 Window -1.952 2.148 -3.302 90 180 0
44 Window -0.467 2.148 -3.302 90 180 0
45 Window -3.894 1.751 0.582 90 270 0
46 Window -3.894 1.751 -0.675 90 270 0
47 LaundryHamper 1.831 0.058 3.689 0 354.434 1.354
48 ArmChair -0.948 0.051 3.583 0 175.988 0
49 ArmChair -2.172 0.051 3.598 0 180 0
50 Blinds -0.477 2.785 -3.253 0 0 0
51 Blinds -1.957 2.785 -3.253 0 0 0
52 Blinds -3.799 2.506 0.602 0 90 0
53 Blinds -3.799 2.506 -0.647 0 90 0
54 Safe 1.673 0.054 -3.004 0 0 0
55 ArmChair -3.349 0.051 3.375 0 150.096 0
56 SideTable 1.775 0.048 2.377 0 0 0
57 Chair -2.002 0.050 -2.532 0 165.000 0
58 NorthWall
59 EastWall
60 SouthWall
61 WestWall | [
"STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp | STEP 2: turn the lamp on | STEP 3: pick up the keys that are on the table | END"
] | [
[
"STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp ",
" STEP 2: turn the lamp on ",
" STEP 3: pick up the keys that are on the table ",
" END"
]
] | seen |
trial_T20190909_094258_737509-1 | turn a lamp on and pick up the keys on the table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.75 0 0 0
1 Mug 0.573 0.075 -2.825 0 0 0 33
2 CD -2.745 0.082 -3.055 0 0 0 30
3 CD 1.828 0.093 -3.049 0 90 0 54
4 CellPhone 1.828 0.097 -3.049 0 90 0 54
5 CellPhone -3.265 0.194 3.195 0 149.999 0 55
6 Pen 1.537 0.552 2.440 0 270 0 56
7 Pencil -1.227 1.119 -3.073 0 0 0 36
8 Pencil -1.337 0.587 -2.830 0 0 0 32
9 Book 0.104 0.832 1.456 0 0 0 29
10 KeyChain -1.227 1.117 -2.902 0 0 0 36
11 KeyChain 1.681 0.554 2.342 0 90 0 56
12 KeyChain 1.657 0.553 2.181 0 180 0 56
13 RemoteControl -0.602 1.118 -3.158 0 0 0 36
14 AlarmClock -2.164 1.118 -3.158 0 0 0 36
15 Book -1.337 0.082 -2.882 0 0 0 34
16 AlarmClock 1.536 0.547 2.299 0 238.148 0 56
17 CellPhone -0.098 0.587 -2.830 0 0 0 31
18 Pillow 1.243 0.940 1.215 0 0 0 29
19 Pillow 1.243 0.940 0.255 0 0 0 29
20 TeddyBear 1.868 0.036 -0.561 0 59.999 0 Floor|-00.06|
21 CreditCard -0.893 0.084 -2.726 0 0 0 34
22 KeyChain -1.851 1.117 -2.732 0 0 0 36
23 Pencil -3.292 0.377 -2.777 0 4.809 0 38
24 Laptop 0.104 0.830 0.015 0 0 0 29
25 RemoteControl -1.539 1.118 -2.902 0 0 0 36
26 CD -0.543 0.082 -2.934 0 0 0 35
27 Pen -1.16 0.590 -2.882 0 0 0 32
28 Mug 0.573 0.075 -3.077 0 0 0 33
29 Bed 0.967 0.049 0.667 0 90 0
30 Cabinet -3.0 1.497 -2.643 0 0 0
31 Drawer -0.365 0.785 -2.848 0 0 0
32 Drawer -1.159 0.785 -2.848 0 0 0
33 Cabinet 2.064 1.497 -2.643 0 0 0
34 Drawer -1.159 0.285 -2.848 0 0 0
35 Drawer -0.365 0.285 -2.848 0 0 0
36 Desk -1.271 1.169 -2.987 0 0 0
37 LightSwitch -0.159 1.281 3.999 0 180 0
38 GarbageCan -3.338 0.022 -2.797 0 4.809 0
39 HousePlant -0.195 1.105 -3.084 0 0 0
40 DeskLamp 1.863 0.581 2.431 0 0 0
41 Mirror -1.603 1.447 3.999 0 0 0
42 Television -3.883 1.771 2.122 0 90 0
43 Window -1.952 2.148 -3.302 90 180 0
44 Window -0.467 2.148 -3.302 90 180 0
45 Window -3.894 1.751 0.582 90 270 0
46 Window -3.894 1.751 -0.675 90 270 0
47 LaundryHamper 1.831 0.058 3.689 0 354.434 1.354
48 ArmChair -0.948 0.051 3.583 0 175.988 0
49 ArmChair -2.172 0.051 3.598 0 180 0
50 Blinds -0.477 2.785 -3.253 0 0 0
51 Blinds -1.957 2.785 -3.253 0 0 0
52 Blinds -3.799 2.506 0.602 0 90 0
53 Blinds -3.799 2.506 -0.647 0 90 0
54 Safe 1.673 0.054 -3.004 0 0 0
55 ArmChair -3.349 0.051 3.375 0 150.096 0
56 SideTable 1.775 0.048 2.377 0 0 0
57 Chair -2.002 0.050 -2.532 0 165.000 0
58 NorthWall
59 EastWall
60 SouthWall
61 WestWall | [
"STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table | STEP 2: turn the lamp on that is on the table | STEP 3: pick up the keys on the table | END"
] | [
[
"STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table ",
" STEP 2: turn the lamp on that is on the table ",
" STEP 3: pick up the keys on the table ",
" END"
]
] | seen |
trial_T20190909_094258_737509-2 | Look at some keys under the light of a lit lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.75 0 0 0
1 Mug 0.573 0.075 -2.825 0 0 0 33
2 CD -2.745 0.082 -3.055 0 0 0 30
3 CD 1.828 0.093 -3.049 0 90 0 54
4 CellPhone 1.828 0.097 -3.049 0 90 0 54
5 CellPhone -3.265 0.194 3.195 0 149.999 0 55
6 Pen 1.537 0.552 2.440 0 270 0 56
7 Pencil -1.227 1.119 -3.073 0 0 0 36
8 Pencil -1.337 0.587 -2.830 0 0 0 32
9 Book 0.104 0.832 1.456 0 0 0 29
10 KeyChain -1.227 1.117 -2.902 0 0 0 36
11 KeyChain 1.681 0.554 2.342 0 90 0 56
12 KeyChain 1.657 0.553 2.181 0 180 0 56
13 RemoteControl -0.602 1.118 -3.158 0 0 0 36
14 AlarmClock -2.164 1.118 -3.158 0 0 0 36
15 Book -1.337 0.082 -2.882 0 0 0 34
16 AlarmClock 1.536 0.547 2.299 0 238.148 0 56
17 CellPhone -0.098 0.587 -2.830 0 0 0 31
18 Pillow 1.243 0.940 1.215 0 0 0 29
19 Pillow 1.243 0.940 0.255 0 0 0 29
20 TeddyBear 1.868 0.036 -0.561 0 59.999 0 Floor|-00.06|
21 CreditCard -0.893 0.084 -2.726 0 0 0 34
22 KeyChain -1.851 1.117 -2.732 0 0 0 36
23 Pencil -3.292 0.377 -2.777 0 4.809 0 38
24 Laptop 0.104 0.830 0.015 0 0 0 29
25 RemoteControl -1.539 1.118 -2.902 0 0 0 36
26 CD -0.543 0.082 -2.934 0 0 0 35
27 Pen -1.16 0.590 -2.882 0 0 0 32
28 Mug 0.573 0.075 -3.077 0 0 0 33
29 Bed 0.967 0.049 0.667 0 90 0
30 Cabinet -3.0 1.497 -2.643 0 0 0
31 Drawer -0.365 0.785 -2.848 0 0 0
32 Drawer -1.159 0.785 -2.848 0 0 0
33 Cabinet 2.064 1.497 -2.643 0 0 0
34 Drawer -1.159 0.285 -2.848 0 0 0
35 Drawer -0.365 0.285 -2.848 0 0 0
36 Desk -1.271 1.169 -2.987 0 0 0
37 LightSwitch -0.159 1.281 3.999 0 180 0
38 GarbageCan -3.338 0.022 -2.797 0 4.809 0
39 HousePlant -0.195 1.105 -3.084 0 0 0
40 DeskLamp 1.863 0.581 2.431 0 0 0
41 Mirror -1.603 1.447 3.999 0 0 0
42 Television -3.883 1.771 2.122 0 90 0
43 Window -1.952 2.148 -3.302 90 180 0
44 Window -0.467 2.148 -3.302 90 180 0
45 Window -3.894 1.751 0.582 90 270 0
46 Window -3.894 1.751 -0.675 90 270 0
47 LaundryHamper 1.831 0.058 3.689 0 354.434 1.354
48 ArmChair -0.948 0.051 3.583 0 175.988 0
49 ArmChair -2.172 0.051 3.598 0 180 0
50 Blinds -0.477 2.785 -3.253 0 0 0
51 Blinds -1.957 2.785 -3.253 0 0 0
52 Blinds -3.799 2.506 0.602 0 90 0
53 Blinds -3.799 2.506 -0.647 0 90 0
54 Safe 1.673 0.054 -3.004 0 0 0
55 ArmChair -3.349 0.051 3.375 0 150.096 0
56 SideTable 1.775 0.048 2.377 0 0 0
57 Chair -2.002 0.050 -2.532 0 165.000 0
58 NorthWall
59 EastWall
60 SouthWall
61 WestWall | [
"STEP 1: Take a right around the bed to reach the nightstand. | STEP 2: Turn on the lamp. | STEP 3: Pick up the keys from the nightstand. | END"
] | [
[
"STEP 1: Take a right around the bed to reach the nightstand. ",
" STEP 2: Turn on the lamp. ",
" STEP 3: Pick up the keys from the nightstand. ",
" END"
]
] | seen |
trial_T20190910_231732_446078-0 | To cut an apple as well as place a piece in the freezer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25 0 180 0
1 Potato -2.455 0.947 0.331 0 0 0 76
2 DishSponge -2.257 0.773 1.370 0 0 0 79
3 DishSponge 1.646 0.184 0.706 0 0 0 87
4 Kettle 1.691 0.929 -0.335 0 0 0 56
5 Kettle 1.691 0.929 0.064 0 0 0 59
6 Spoon 1.391 0.919 -1.061 0 225 0 62
7 Spoon 1.426 0.912 0.465 0 0 0 57
8 Spatula -2.704 0.925 0.931 0 90 0 76
9 Egg 1.855 0.941 0.465 0 0 0 57
10 Egg 1.520 0.215 0.596 0 0 0 87
11 Cup 1.329 0.916 -1.053 0 225 0 62
12 Plate -2.485 1.302 -0.602 0 90 0 80
13 Knife 1.684 0.936 0.494 0 0 0 57
14 Knife 1.428 0.936 -0.768 0 180 0 58
15 Tomato -2.578 1.342 -0.979 0 90 0 80
16 Bowl 1.735 1.660 -0.479 0 0 0 68
17 Bowl -2.560 1.535 0.702 0 0 0 72
18 PepperShaker 0.445 1.658 -1.802 0 90 0 55
19 PepperShaker -2.685 1.928 -1.034 0 0 0 69
20 SaltShaker -2.599 1.533 1.840 0 0 0 60
21 Lettuce -0.471 0.994 0.870 0 0 0 48
22 Lettuce -0.211 0.994 0.423 0 0 0 48
23 Mug -2.704 0.905 1.230 0 0 0 76
24 Apple -2.559 0.656 -0.603 0 90 0 80
25 Pan 0.0 0.9 0.948 0 29.999 0 48
26 Knife -2.318 0.798 0.022 0 270 0 66
27 Apple -2.455 0.972 0.931 0 0 0 76
28 Bowl -2.277 0.112 1.423 0 0 0 54
29 Fork 1.353 0.919 -1.239 0 45 0 62
30 Bread 0.048 0.996 0.647 0 0 0 48
31 Plate -0.081 0.913 1.317 0 0 0 48
32 Egg 1.684 0.941 0.435 0 0 0 57
33 Kettle 1.412 0.929 -0.335 0 0 0 49
34 Potato -2.635 1.051 2.481 0 90 0 88
35 SaltShaker -2.704 0.905 0.331 0 0 0 76
36 Lettuce -0.341 0.994 1.764 0 0 0 48
37 Cup -2.420 0.592 -1.051 0 90 0 80
38 SoapBottle -2.206 0.912 0.031 0 0 0 76
39 Spatula -2.372 0.925 0.031 0 0 0 76
40 PaperTowelRoll -2.206 1.015 0.931 0 0 0 76
41 ButterKnife -0.211 0.910 1.540 0 0 0 48
42 PepperShaker -2.560 1.533 1.768 0 180 0 60
43 DishSponge 1.415 0.922 -1.247 0 225 0 62
44 Pot -2.311 0.105 0.895 0 270 0 74
45 Spoon -2.318 0.775 0.809 0 90 0 53
46 Tomato -2.206 0.953 0.631 0 0 0 76
47 Mug 0.464 0.955 -1.593 0 0 0 58
48 CounterTop -0.360 0.946 1.093 0 0 0
49 StoveBurner 1.412 0.923 -0.335 0 0 0
50 StoveKnob 1.878 1.093 0.018 287.989 90 0
51 StoveKnob 1.878 1.093 -0.306 287.989 90 0
52 Cabinet -2.446 1.948 2.924 0 0 0
53 Drawer -2.276 0.792 0.902 0 0 0
54 Cabinet -2.145 0.402 1.578 0 0 0
55 Cabinet 0.149 2.008 -1.603 0 90 0
56 StoveBurner 1.691 0.923 -0.335 0 0 0
57 CounterTop 1.585 0.946 0.405 0 0 0
58 CounterTop 0.474 0.946 -1.625 0 0 0
59 StoveBurner 1.691 0.923 0.064 0 0 0
60 Cabinet -2.446 1.948 1.687 0 0 0
61 Cabinet -2.446 1.948 1.640 0 0 0
62 Sink 1.381 0.810 -1.271 0 225 0
63 StoveKnob 1.878 1.093 0.150 287.989 90 0
64 Cabinet -2.145 0.402 -0.236 0 0 0
65 Drawer -2.276 0.792 0.437 0 0 0
66 Drawer -2.276 0.792 -0.027 0 0 0
67 Cabinet 1.572 2.008 0.474 0 0 0
68 Cabinet 1.572 2.008 -0.775 0 0 0
69 Cabinet -2.445 2.148 -1.275 0 0 0
70 Cabinet -2.446 2.148 -0.284 0 0 0
71 Cabinet -2.446 1.948 0.355 0 0 0
72 Cabinet -2.446 1.948 0.405 0 0 0
73 Cabinet -2.145 0.402 0.644 0 0 0
74 Cabinet -2.145 0.402 0.695 0 0 0
75 Cabinet -2.285 1.968 -1.325 0 180 0
76 CounterTop -1.485 0.946 1.319 0 0 0
77 StoveBurner 1.411 0.923 0.064 0 0 0
78 StoveKnob 1.878 1.093 -0.441 287.989 90 0
79 Drawer -2.276 0.792 1.368 0 0 0
80 Fridge -2.475 0.0 -0.782 0 90 0
81 LightSwitch -0.929 1.350 -1.950 0 0 0
82 Toaster -2.564 0.900 1.876 0 90 0
83 CoffeeMachine 0.464 0.900 -1.810 0 0 0
84 Window 1.508 1.534 -1.496 90 135 0
85 Window 1.973 1.521 1.121 90 90 0
86 SinkBasin 1.149 0.753 -1.380 0 225 0
87 GarbageCan 1.646 -0.000 0.679 0 0 0
88 Microwave -2.580 0.900 2.440 0 90 0
89 Stool 0.439 0.010 0.747 0 0 0
90 Stool -2.303 0.010 1.839 0 0 0
91 Faucet 1.235 1.138 -1.473 0 225 0
92 NorthWall
93 EastWall
94 SouthWall
95 WestWall | [
"STEP 1: Walk forward across the room and turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. | STEP 4: Cut the apple into three pieces. | STEP 5: Turn left, walk forw... | [
[
"STEP 1: Walk forward across the room and turn right to face the counter. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. ",
" STEP 4: Cut the apple into three pieces. ",
... | seen |
trial_T20190910_231732_446078-1 | Put cooked apple in the freezer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25 0 180 0
1 Potato -2.455 0.947 0.331 0 0 0 76
2 DishSponge -2.257 0.773 1.370 0 0 0 79
3 DishSponge 1.646 0.184 0.706 0 0 0 87
4 Kettle 1.691 0.929 -0.335 0 0 0 56
5 Kettle 1.691 0.929 0.064 0 0 0 59
6 Spoon 1.391 0.919 -1.061 0 225 0 62
7 Spoon 1.426 0.912 0.465 0 0 0 57
8 Spatula -2.704 0.925 0.931 0 90 0 76
9 Egg 1.855 0.941 0.465 0 0 0 57
10 Egg 1.520 0.215 0.596 0 0 0 87
11 Cup 1.329 0.916 -1.053 0 225 0 62
12 Plate -2.485 1.302 -0.602 0 90 0 80
13 Knife 1.684 0.936 0.494 0 0 0 57
14 Knife 1.428 0.936 -0.768 0 180 0 58
15 Tomato -2.578 1.342 -0.979 0 90 0 80
16 Bowl 1.735 1.660 -0.479 0 0 0 68
17 Bowl -2.560 1.535 0.702 0 0 0 72
18 PepperShaker 0.445 1.658 -1.802 0 90 0 55
19 PepperShaker -2.685 1.928 -1.034 0 0 0 69
20 SaltShaker -2.599 1.533 1.840 0 0 0 60
21 Lettuce -0.471 0.994 0.870 0 0 0 48
22 Lettuce -0.211 0.994 0.423 0 0 0 48
23 Mug -2.704 0.905 1.230 0 0 0 76
24 Apple -2.559 0.656 -0.603 0 90 0 80
25 Pan 0.0 0.9 0.948 0 29.999 0 48
26 Knife -2.318 0.798 0.022 0 270 0 66
27 Apple -2.455 0.972 0.931 0 0 0 76
28 Bowl -2.277 0.112 1.423 0 0 0 54
29 Fork 1.353 0.919 -1.239 0 45 0 62
30 Bread 0.048 0.996 0.647 0 0 0 48
31 Plate -0.081 0.913 1.317 0 0 0 48
32 Egg 1.684 0.941 0.435 0 0 0 57
33 Kettle 1.412 0.929 -0.335 0 0 0 49
34 Potato -2.635 1.051 2.481 0 90 0 88
35 SaltShaker -2.704 0.905 0.331 0 0 0 76
36 Lettuce -0.341 0.994 1.764 0 0 0 48
37 Cup -2.420 0.592 -1.051 0 90 0 80
38 SoapBottle -2.206 0.912 0.031 0 0 0 76
39 Spatula -2.372 0.925 0.031 0 0 0 76
40 PaperTowelRoll -2.206 1.015 0.931 0 0 0 76
41 ButterKnife -0.211 0.910 1.540 0 0 0 48
42 PepperShaker -2.560 1.533 1.768 0 180 0 60
43 DishSponge 1.415 0.922 -1.247 0 225 0 62
44 Pot -2.311 0.105 0.895 0 270 0 74
45 Spoon -2.318 0.775 0.809 0 90 0 53
46 Tomato -2.206 0.953 0.631 0 0 0 76
47 Mug 0.464 0.955 -1.593 0 0 0 58
48 CounterTop -0.360 0.946 1.093 0 0 0
49 StoveBurner 1.412 0.923 -0.335 0 0 0
50 StoveKnob 1.878 1.093 0.018 287.989 90 0
51 StoveKnob 1.878 1.093 -0.306 287.989 90 0
52 Cabinet -2.446 1.948 2.924 0 0 0
53 Drawer -2.276 0.792 0.902 0 0 0
54 Cabinet -2.145 0.402 1.578 0 0 0
55 Cabinet 0.149 2.008 -1.603 0 90 0
56 StoveBurner 1.691 0.923 -0.335 0 0 0
57 CounterTop 1.585 0.946 0.405 0 0 0
58 CounterTop 0.474 0.946 -1.625 0 0 0
59 StoveBurner 1.691 0.923 0.064 0 0 0
60 Cabinet -2.446 1.948 1.687 0 0 0
61 Cabinet -2.446 1.948 1.640 0 0 0
62 Sink 1.381 0.810 -1.271 0 225 0
63 StoveKnob 1.878 1.093 0.150 287.989 90 0
64 Cabinet -2.145 0.402 -0.236 0 0 0
65 Drawer -2.276 0.792 0.437 0 0 0
66 Drawer -2.276 0.792 -0.027 0 0 0
67 Cabinet 1.572 2.008 0.474 0 0 0
68 Cabinet 1.572 2.008 -0.775 0 0 0
69 Cabinet -2.445 2.148 -1.275 0 0 0
70 Cabinet -2.446 2.148 -0.284 0 0 0
71 Cabinet -2.446 1.948 0.355 0 0 0
72 Cabinet -2.446 1.948 0.405 0 0 0
73 Cabinet -2.145 0.402 0.644 0 0 0
74 Cabinet -2.145 0.402 0.695 0 0 0
75 Cabinet -2.285 1.968 -1.325 0 180 0
76 CounterTop -1.485 0.946 1.319 0 0 0
77 StoveBurner 1.411 0.923 0.064 0 0 0
78 StoveKnob 1.878 1.093 -0.441 287.989 90 0
79 Drawer -2.276 0.792 1.368 0 0 0
80 Fridge -2.475 0.0 -0.782 0 90 0
81 LightSwitch -0.929 1.350 -1.950 0 0 0
82 Toaster -2.564 0.900 1.876 0 90 0
83 CoffeeMachine 0.464 0.900 -1.810 0 0 0
84 Window 1.508 1.534 -1.496 90 135 0
85 Window 1.973 1.521 1.121 90 90 0
86 SinkBasin 1.149 0.753 -1.380 0 225 0
87 GarbageCan 1.646 -0.000 0.679 0 0 0
88 Microwave -2.580 0.900 2.440 0 90 0
89 Stool 0.439 0.010 0.747 0 0 0
90 Stool -2.303 0.010 1.839 0 0 0
91 Faucet 1.235 1.138 -1.473 0 225 0
92 NorthWall
93 EastWall
94 SouthWall
95 WestWall | [
"STEP 1: Go forward, hang a left and go to the counter to the right of the stove. | STEP 2: Pick up the big knife that is on the counter. | STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. | STEP 4: Cut the apple that is on the cou... | [
[
"STEP 1: Go forward, hang a left and go to the counter to the right of the stove. ",
" STEP 2: Pick up the big knife that is on the counter. ",
" STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. ",
" STEP 4: Cut t... | seen |
trial_T20190910_231732_446078-2 | Place the warm apple slice in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25 0 180 0
1 Potato -2.455 0.947 0.331 0 0 0 76
2 DishSponge -2.257 0.773 1.370 0 0 0 79
3 DishSponge 1.646 0.184 0.706 0 0 0 87
4 Kettle 1.691 0.929 -0.335 0 0 0 56
5 Kettle 1.691 0.929 0.064 0 0 0 59
6 Spoon 1.391 0.919 -1.061 0 225 0 62
7 Spoon 1.426 0.912 0.465 0 0 0 57
8 Spatula -2.704 0.925 0.931 0 90 0 76
9 Egg 1.855 0.941 0.465 0 0 0 57
10 Egg 1.520 0.215 0.596 0 0 0 87
11 Cup 1.329 0.916 -1.053 0 225 0 62
12 Plate -2.485 1.302 -0.602 0 90 0 80
13 Knife 1.684 0.936 0.494 0 0 0 57
14 Knife 1.428 0.936 -0.768 0 180 0 58
15 Tomato -2.578 1.342 -0.979 0 90 0 80
16 Bowl 1.735 1.660 -0.479 0 0 0 68
17 Bowl -2.560 1.535 0.702 0 0 0 72
18 PepperShaker 0.445 1.658 -1.802 0 90 0 55
19 PepperShaker -2.685 1.928 -1.034 0 0 0 69
20 SaltShaker -2.599 1.533 1.840 0 0 0 60
21 Lettuce -0.471 0.994 0.870 0 0 0 48
22 Lettuce -0.211 0.994 0.423 0 0 0 48
23 Mug -2.704 0.905 1.230 0 0 0 76
24 Apple -2.559 0.656 -0.603 0 90 0 80
25 Pan 0.0 0.9 0.948 0 29.999 0 48
26 Knife -2.318 0.798 0.022 0 270 0 66
27 Apple -2.455 0.972 0.931 0 0 0 76
28 Bowl -2.277 0.112 1.423 0 0 0 54
29 Fork 1.353 0.919 -1.239 0 45 0 62
30 Bread 0.048 0.996 0.647 0 0 0 48
31 Plate -0.081 0.913 1.317 0 0 0 48
32 Egg 1.684 0.941 0.435 0 0 0 57
33 Kettle 1.412 0.929 -0.335 0 0 0 49
34 Potato -2.635 1.051 2.481 0 90 0 88
35 SaltShaker -2.704 0.905 0.331 0 0 0 76
36 Lettuce -0.341 0.994 1.764 0 0 0 48
37 Cup -2.420 0.592 -1.051 0 90 0 80
38 SoapBottle -2.206 0.912 0.031 0 0 0 76
39 Spatula -2.372 0.925 0.031 0 0 0 76
40 PaperTowelRoll -2.206 1.015 0.931 0 0 0 76
41 ButterKnife -0.211 0.910 1.540 0 0 0 48
42 PepperShaker -2.560 1.533 1.768 0 180 0 60
43 DishSponge 1.415 0.922 -1.247 0 225 0 62
44 Pot -2.311 0.105 0.895 0 270 0 74
45 Spoon -2.318 0.775 0.809 0 90 0 53
46 Tomato -2.206 0.953 0.631 0 0 0 76
47 Mug 0.464 0.955 -1.593 0 0 0 58
48 CounterTop -0.360 0.946 1.093 0 0 0
49 StoveBurner 1.412 0.923 -0.335 0 0 0
50 StoveKnob 1.878 1.093 0.018 287.989 90 0
51 StoveKnob 1.878 1.093 -0.306 287.989 90 0
52 Cabinet -2.446 1.948 2.924 0 0 0
53 Drawer -2.276 0.792 0.902 0 0 0
54 Cabinet -2.145 0.402 1.578 0 0 0
55 Cabinet 0.149 2.008 -1.603 0 90 0
56 StoveBurner 1.691 0.923 -0.335 0 0 0
57 CounterTop 1.585 0.946 0.405 0 0 0
58 CounterTop 0.474 0.946 -1.625 0 0 0
59 StoveBurner 1.691 0.923 0.064 0 0 0
60 Cabinet -2.446 1.948 1.687 0 0 0
61 Cabinet -2.446 1.948 1.640 0 0 0
62 Sink 1.381 0.810 -1.271 0 225 0
63 StoveKnob 1.878 1.093 0.150 287.989 90 0
64 Cabinet -2.145 0.402 -0.236 0 0 0
65 Drawer -2.276 0.792 0.437 0 0 0
66 Drawer -2.276 0.792 -0.027 0 0 0
67 Cabinet 1.572 2.008 0.474 0 0 0
68 Cabinet 1.572 2.008 -0.775 0 0 0
69 Cabinet -2.445 2.148 -1.275 0 0 0
70 Cabinet -2.446 2.148 -0.284 0 0 0
71 Cabinet -2.446 1.948 0.355 0 0 0
72 Cabinet -2.446 1.948 0.405 0 0 0
73 Cabinet -2.145 0.402 0.644 0 0 0
74 Cabinet -2.145 0.402 0.695 0 0 0
75 Cabinet -2.285 1.968 -1.325 0 180 0
76 CounterTop -1.485 0.946 1.319 0 0 0
77 StoveBurner 1.411 0.923 0.064 0 0 0
78 StoveKnob 1.878 1.093 -0.441 287.989 90 0
79 Drawer -2.276 0.792 1.368 0 0 0
80 Fridge -2.475 0.0 -0.782 0 90 0
81 LightSwitch -0.929 1.350 -1.950 0 0 0
82 Toaster -2.564 0.900 1.876 0 90 0
83 CoffeeMachine 0.464 0.900 -1.810 0 0 0
84 Window 1.508 1.534 -1.496 90 135 0
85 Window 1.973 1.521 1.121 90 90 0
86 SinkBasin 1.149 0.753 -1.380 0 225 0
87 GarbageCan 1.646 -0.000 0.679 0 0 0
88 Microwave -2.580 0.900 2.440 0 90 0
89 Stool 0.439 0.010 0.747 0 0 0
90 Stool -2.303 0.010 1.839 0 0 0
91 Faucet 1.235 1.138 -1.473 0 225 0
92 NorthWall
93 EastWall
94 SouthWall
95 WestWall | [
"STEP 1: Turn to the left, walk to the right of the stove. | STEP 2: Pick up the knife. | STEP 3: Turn around, cross the room, face the counter to the right of the fridge. | STEP 4: Cut the apple on the counter. | STEP 5: Go to the left to the fridge. | STEP 6: Put the knife on the top shelf of the bottom part... | [
[
"STEP 1: Turn to the left, walk to the right of the stove. ",
" STEP 2: Pick up the knife. ",
" STEP 3: Turn around, cross the room, face the counter to the right of the fridge. ",
" STEP 4: Cut the apple on the counter. ",
" STEP 5: Go to the left to the fridge. ",
" STEP 6: Put the ... | seen |
trial_T20190907_144839_536922-0 | Put the sponge on the back of the toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 0.5 0 0 0
1 TissueBox -0.208 0.963 -1.993 0 0 0 24
2 TissueBox 0.270 0.963 -2.275 0 0 0 24
3 DishSponge -3.034 0.245 1.317 0 90 0 43
4 SoapBottle 0.135 0.976 2.250 0 270 0 38
5 Candle -0.208 0.962 -2.181 0 0 0 24
6 HandTowel -0.885 1.617 -2.503 0 180 0 33
7 Towel 0.465 1.21 -1.095 0 270 0 29
8 SoapBottle -0.368 0.973 -1.805 0 0 0 24
9 SoapBar -2.796 0.884 0.639 0 90 0 40
10 ToiletPaper -0.178 0.957 2.268 0 0 0 38
11 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35|
12 SprayBottle -0.527 0.959 -1.805 0 0 0 24
13 TissueBox 1.142 0.624 -2.168 0 0 0 32
14 ToiletPaper 0.430 0.959 -2.181 0 0 0 24
15 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35|
16 Cloth 0.111 0.961 -1.993 0 0 0 24
17 DishSponge -2.246 0.078 -1.251 0 45 0 24
18 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35|
19 Bathtub -1.957 0.494 -1.233 0 0 0
20 ShowerDoor 0.650 1.413 2.169 0 0 0
21 ShowerGlass 0.0 0.0 0.0 0 0 0
22 Drawer 0.300 0.304 -1.820 0 0 0
23 Mirror -0.046 1.512 -2.538 0 0 0
24 CounterTop 0.196 0.430 -2.010 0 0 0
25 Sink -2.796 0.328 0.755 0 90 0
26 Drawer 0.300 0.833 -1.820 0 0 0
27 Drawer 0.300 0.682 -1.820 0 0 0
28 Drawer 0.300 0.492 -1.820 0 0 0
29 TowelHolder 0.572 1.195 -1.095 0 270 0
30 GarbageCan -0.564 0.010 2.061 0 195.0 0
31 ToiletPaperHanger -0.574 0.926 2.407 0 180 0
32 Shelf 1.536 0.613 -2.242 0 0 0
33 HandTowelHolder -0.884 1.718 -2.542 0 270 0
34 Window -3.170 1.812 -1.697 90 90 0
35 Window -3.170 1.812 1.597 90 90 0
36 Window -2.144 1.809 -2.573 90 0 0
37 Window -3.170 1.812 -0.054 90 90 0
38 Toilet -0.064 0.012 1.838 0 180 0
39 LightSwitch -1.406 1.472 2.407 0 180 0
40 SinkBasin -2.796 0.875 0.765 0 90 0
41 ShowerHead 1.591 1.700 -2.424 0 90 0
42 Faucet -2.676 0.423 -0.312 0 99.958 0
43 SideTable -2.847 0.013 1.509 0 90 0
44 Faucet -3.106 1.056 0.757 0 90 0
45
46 NorthWall
47 EastWall
48 SouthWall
49 WestWall | [
"STEP 1: Turn left and go to the shelf. | STEP 2: Pick up the sponge. | STEP 3: Turn around and walk to the toilet | STEP 4: Put the sponge on the back of the toilet. | END"
] | [
[
"STEP 1: Turn left and go to the shelf. ",
" STEP 2: Pick up the sponge. ",
" STEP 3: Turn around and walk to the toilet ",
" STEP 4: Put the sponge on the back of the toilet. ",
" END"
]
] | seen |
trial_T20190907_144839_536922-1 | Put a sponge on the back of the toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 0.5 0 0 0
1 TissueBox -0.208 0.963 -1.993 0 0 0 24
2 TissueBox 0.270 0.963 -2.275 0 0 0 24
3 DishSponge -3.034 0.245 1.317 0 90 0 43
4 SoapBottle 0.135 0.976 2.250 0 270 0 38
5 Candle -0.208 0.962 -2.181 0 0 0 24
6 HandTowel -0.885 1.617 -2.503 0 180 0 33
7 Towel 0.465 1.21 -1.095 0 270 0 29
8 SoapBottle -0.368 0.973 -1.805 0 0 0 24
9 SoapBar -2.796 0.884 0.639 0 90 0 40
10 ToiletPaper -0.178 0.957 2.268 0 0 0 38
11 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35|
12 SprayBottle -0.527 0.959 -1.805 0 0 0 24
13 TissueBox 1.142 0.624 -2.168 0 0 0 32
14 ToiletPaper 0.430 0.959 -2.181 0 0 0 24
15 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35|
16 Cloth 0.111 0.961 -1.993 0 0 0 24
17 DishSponge -2.246 0.078 -1.251 0 45 0 24
18 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35|
19 Bathtub -1.957 0.494 -1.233 0 0 0
20 ShowerDoor 0.650 1.413 2.169 0 0 0
21 ShowerGlass 0.0 0.0 0.0 0 0 0
22 Drawer 0.300 0.304 -1.820 0 0 0
23 Mirror -0.046 1.512 -2.538 0 0 0
24 CounterTop 0.196 0.430 -2.010 0 0 0
25 Sink -2.796 0.328 0.755 0 90 0
26 Drawer 0.300 0.833 -1.820 0 0 0
27 Drawer 0.300 0.682 -1.820 0 0 0
28 Drawer 0.300 0.492 -1.820 0 0 0
29 TowelHolder 0.572 1.195 -1.095 0 270 0
30 GarbageCan -0.564 0.010 2.061 0 195.0 0
31 ToiletPaperHanger -0.574 0.926 2.407 0 180 0
32 Shelf 1.536 0.613 -2.242 0 0 0
33 HandTowelHolder -0.884 1.718 -2.542 0 270 0
34 Window -3.170 1.812 -1.697 90 90 0
35 Window -3.170 1.812 1.597 90 90 0
36 Window -2.144 1.809 -2.573 90 0 0
37 Window -3.170 1.812 -0.054 90 90 0
38 Toilet -0.064 0.012 1.838 0 180 0
39 LightSwitch -1.406 1.472 2.407 0 180 0
40 SinkBasin -2.796 0.875 0.765 0 90 0
41 ShowerHead 1.591 1.700 -2.424 0 90 0
42 Faucet -2.676 0.423 -0.312 0 99.958 0
43 SideTable -2.847 0.013 1.509 0 90 0
44 Faucet -3.106 1.056 0.757 0 90 0
45
46 NorthWall
47 EastWall
48 SouthWall
49 WestWall | [
"STEP 1: Go straight, then turn left at the metal shelf. | STEP 2: Take the sponge from the shelf. | STEP 3: Turn right, then turn right, then go straight, to the toilet. | STEP 4: Place the sponge on the back of the toilet. | END"
] | [
[
"STEP 1: Go straight, then turn left at the metal shelf. ",
" STEP 2: Take the sponge from the shelf. ",
" STEP 3: Turn right, then turn right, then go straight, to the toilet. ",
" STEP 4: Place the sponge on the back of the toilet. ",
" END"
]
] | seen |
trial_T20190907_144839_536922-2 | Place a sponge on the top of a toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 0.5 0 0 0
1 TissueBox -0.208 0.963 -1.993 0 0 0 24
2 TissueBox 0.270 0.963 -2.275 0 0 0 24
3 DishSponge -3.034 0.245 1.317 0 90 0 43
4 SoapBottle 0.135 0.976 2.250 0 270 0 38
5 Candle -0.208 0.962 -2.181 0 0 0 24
6 HandTowel -0.885 1.617 -2.503 0 180 0 33
7 Towel 0.465 1.21 -1.095 0 270 0 29
8 SoapBottle -0.368 0.973 -1.805 0 0 0 24
9 SoapBar -2.796 0.884 0.639 0 90 0 40
10 ToiletPaper -0.178 0.957 2.268 0 0 0 38
11 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35|
12 SprayBottle -0.527 0.959 -1.805 0 0 0 24
13 TissueBox 1.142 0.624 -2.168 0 0 0 32
14 ToiletPaper 0.430 0.959 -2.181 0 0 0 24
15 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35|
16 Cloth 0.111 0.961 -1.993 0 0 0 24
17 DishSponge -2.246 0.078 -1.251 0 45 0 24
18 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35|
19 Bathtub -1.957 0.494 -1.233 0 0 0
20 ShowerDoor 0.650 1.413 2.169 0 0 0
21 ShowerGlass 0.0 0.0 0.0 0 0 0
22 Drawer 0.300 0.304 -1.820 0 0 0
23 Mirror -0.046 1.512 -2.538 0 0 0
24 CounterTop 0.196 0.430 -2.010 0 0 0
25 Sink -2.796 0.328 0.755 0 90 0
26 Drawer 0.300 0.833 -1.820 0 0 0
27 Drawer 0.300 0.682 -1.820 0 0 0
28 Drawer 0.300 0.492 -1.820 0 0 0
29 TowelHolder 0.572 1.195 -1.095 0 270 0
30 GarbageCan -0.564 0.010 2.061 0 195.0 0
31 ToiletPaperHanger -0.574 0.926 2.407 0 180 0
32 Shelf 1.536 0.613 -2.242 0 0 0
33 HandTowelHolder -0.884 1.718 -2.542 0 270 0
34 Window -3.170 1.812 -1.697 90 90 0
35 Window -3.170 1.812 1.597 90 90 0
36 Window -2.144 1.809 -2.573 90 0 0
37 Window -3.170 1.812 -0.054 90 90 0
38 Toilet -0.064 0.012 1.838 0 180 0
39 LightSwitch -1.406 1.472 2.407 0 180 0
40 SinkBasin -2.796 0.875 0.765 0 90 0
41 ShowerHead 1.591 1.700 -2.424 0 90 0
42 Faucet -2.676 0.423 -0.312 0 99.958 0
43 SideTable -2.847 0.013 1.509 0 90 0
44 Faucet -3.106 1.056 0.757 0 90 0
45
46 NorthWall
47 EastWall
48 SouthWall
49 WestWall | [
"STEP 1: Walk to the steel rack to the right of the sink. | STEP 2: Pick up the sponge from the steel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. | END"
] | [
[
"STEP 1: Walk to the steel rack to the right of the sink. ",
" STEP 2: Pick up the sponge from the steel rack. ",
" STEP 3: Turn around and walk to the toilet. ",
" STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. ",
" END"
]
] | seen |
trial_T20190909_011606_013059-0 | Put a credit card on the chair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 0 270 0
1 Book -1.050 0.712 3.759 0 0 0 30
2 Book -1.351 0.547 0.650 0 0 0 29
3 CreditCard -1.966 0.447 2.200 0 0 0 28
4 CreditCard -1.840 0.447 2.120 0 0 0 28
5 CreditCard -1.714 0.447 2.120 0 0 0 28
6 RemoteControl -2.093 0.449 2.441 0 0 0 28
7 RemoteControl -0.351 0.547 0.381 0 0 0 29
8 Box -1.587 0.636 2.521 0 0 0 28
9 Book -1.101 0.547 0.471 0 0 0 29
10 Box 0.332 0.892 0.488 0 0 0 27
11 Laptop 0.627 0.238 0.506 0 0 0 27
12 KeyChain 0.753 0.714 0.502 0 0 0 27
13 Pillow -0.506 0.664 0.431 36.288 0 0 29
14 Statue 0.858 0.710 0.327 0 0 0 27
15 RemoteControl -2.949 0.564 0.382 0 0 0 32
16 CreditCard -1.499 0.710 3.649 0 0 0 30
17 Watch -1.349 0.707 3.649 0 0 0 30
18 Painting -3.049 1.690 4.341 0 0 0
19 Curtains -3.973 2.254 1.453 0 0 0
20 Painting -1.096 1.773 -0.017 0 0 0
21 LightSwitch -0.129 1.407 4.348 0 180 0
22 GarbageCan -0.376 0.003 4.103 0 180 0
23 Television -1.504 1.189 4.126 0 180 0
24 HousePlant -2.015 0.447 2.357 0 0 0
25 FloorLamp -3.686 -0.001 4.013 0 0 0
26 Window -4.051 1.197 1.312 90 270 0
27 SideTable 0.626 0.006 0.340 0 0 0
28 CoffeeTable -1.735 0.005 2.360 0 0 0
29 Sofa -1.135 -0.004 0.517 0 0 0
30 TVStand -1.566 0.004 3.869 0 0 0
31 Shelf 0.622 0.238 0.340 0 0 0
32 ArmChair -3.063 0.000 0.517 0 0 0
33 NorthWall
34 EastWall
35 SouthWall
36 WestWall | [
"STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. | STEP 2: Pick up the credit card farthest to the right. | STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. | STEP 4: Put the credit card near the edge of the ... | [
[
"STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. ",
" STEP 2: Pick up the credit card farthest to the right. ",
" STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. ",
" STEP 4: Put the credit... | seen |
trial_T20190909_011606_013059-1 | Move a credit card from the coffee table to the striped armchair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 0 270 0
1 Book -1.050 0.712 3.759 0 0 0 30
2 Book -1.351 0.547 0.650 0 0 0 29
3 CreditCard -1.966 0.447 2.200 0 0 0 28
4 CreditCard -1.840 0.447 2.120 0 0 0 28
5 CreditCard -1.714 0.447 2.120 0 0 0 28
6 RemoteControl -2.093 0.449 2.441 0 0 0 28
7 RemoteControl -0.351 0.547 0.381 0 0 0 29
8 Box -1.587 0.636 2.521 0 0 0 28
9 Book -1.101 0.547 0.471 0 0 0 29
10 Box 0.332 0.892 0.488 0 0 0 27
11 Laptop 0.627 0.238 0.506 0 0 0 27
12 KeyChain 0.753 0.714 0.502 0 0 0 27
13 Pillow -0.506 0.664 0.431 36.288 0 0 29
14 Statue 0.858 0.710 0.327 0 0 0 27
15 RemoteControl -2.949 0.564 0.382 0 0 0 32
16 CreditCard -1.499 0.710 3.649 0 0 0 30
17 Watch -1.349 0.707 3.649 0 0 0 30
18 Painting -3.049 1.690 4.341 0 0 0
19 Curtains -3.973 2.254 1.453 0 0 0
20 Painting -1.096 1.773 -0.017 0 0 0
21 LightSwitch -0.129 1.407 4.348 0 180 0
22 GarbageCan -0.376 0.003 4.103 0 180 0
23 Television -1.504 1.189 4.126 0 180 0
24 HousePlant -2.015 0.447 2.357 0 0 0
25 FloorLamp -3.686 -0.001 4.013 0 0 0
26 Window -4.051 1.197 1.312 90 270 0
27 SideTable 0.626 0.006 0.340 0 0 0
28 CoffeeTable -1.735 0.005 2.360 0 0 0
29 Sofa -1.135 -0.004 0.517 0 0 0
30 TVStand -1.566 0.004 3.869 0 0 0
31 Shelf 0.622 0.238 0.340 0 0 0
32 ArmChair -3.063 0.000 0.517 0 0 0
33 NorthWall
34 EastWall
35 SouthWall
36 WestWall | [
"STEP 1: Walk to the coffee table. | STEP 2: Pick up the furthest credit card to the right on the coffee table. | STEP 3: Turn around and walk to the striped armchair. | STEP 4: Set the credit card down on the seat of the striped armchair. | END"
] | [
[
"STEP 1: Walk to the coffee table. ",
" STEP 2: Pick up the furthest credit card to the right on the coffee table. ",
" STEP 3: Turn around and walk to the striped armchair. ",
" STEP 4: Set the credit card down on the seat of the striped armchair. ",
" END"
]
] | seen |
trial_T20190909_011606_013059-2 | Move a card from the table to the chair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 0 270 0
1 Book -1.050 0.712 3.759 0 0 0 30
2 Book -1.351 0.547 0.650 0 0 0 29
3 CreditCard -1.966 0.447 2.200 0 0 0 28
4 CreditCard -1.840 0.447 2.120 0 0 0 28
5 CreditCard -1.714 0.447 2.120 0 0 0 28
6 RemoteControl -2.093 0.449 2.441 0 0 0 28
7 RemoteControl -0.351 0.547 0.381 0 0 0 29
8 Box -1.587 0.636 2.521 0 0 0 28
9 Book -1.101 0.547 0.471 0 0 0 29
10 Box 0.332 0.892 0.488 0 0 0 27
11 Laptop 0.627 0.238 0.506 0 0 0 27
12 KeyChain 0.753 0.714 0.502 0 0 0 27
13 Pillow -0.506 0.664 0.431 36.288 0 0 29
14 Statue 0.858 0.710 0.327 0 0 0 27
15 RemoteControl -2.949 0.564 0.382 0 0 0 32
16 CreditCard -1.499 0.710 3.649 0 0 0 30
17 Watch -1.349 0.707 3.649 0 0 0 30
18 Painting -3.049 1.690 4.341 0 0 0
19 Curtains -3.973 2.254 1.453 0 0 0
20 Painting -1.096 1.773 -0.017 0 0 0
21 LightSwitch -0.129 1.407 4.348 0 180 0
22 GarbageCan -0.376 0.003 4.103 0 180 0
23 Television -1.504 1.189 4.126 0 180 0
24 HousePlant -2.015 0.447 2.357 0 0 0
25 FloorLamp -3.686 -0.001 4.013 0 0 0
26 Window -4.051 1.197 1.312 90 270 0
27 SideTable 0.626 0.006 0.340 0 0 0
28 CoffeeTable -1.735 0.005 2.360 0 0 0
29 Sofa -1.135 -0.004 0.517 0 0 0
30 TVStand -1.566 0.004 3.869 0 0 0
31 Shelf 0.622 0.238 0.340 0 0 0
32 ArmChair -3.063 0.000 0.517 0 0 0
33 NorthWall
34 EastWall
35 SouthWall
36 WestWall | [
"STEP 1: Walk to the coffee table on the cards' side. | STEP 2: Grab the right card from the table. | STEP 3: Walk to the white chair on your left. | STEP 4: Place the card on the chair. | END"
] | [
[
"STEP 1: Walk to the coffee table on the cards' side. ",
" STEP 2: Grab the right card from the table. ",
" STEP 3: Walk to the white chair on your left. ",
" STEP 4: Place the card on the chair. ",
" END"
]
] | seen |
trial_T20190909_075240_427378-0 | Put a slice of warm bread in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 0 0 0
1 Kettle -0.213 0.926 0.041 0 0 0 74
2 Kettle 1.975 0.938 0.601 0 180 0 61
3 DishSponge -1.796 0.040 1.371 0 270 0 80
4 DishSponge -1.764 1.661 -0.905 0 90 0 53
5 Spoon 1.713 0.471 -0.020 0 0 0 62
6 Spatula -1.902 0.926 -0.864 0 270 0 66
7 Spatula 0.889 0.926 -1.221 0 0 0 66
8 Pot -1.668 0.915 -1.610 0 0 0 66
9 Pot -0.193 0.118 -1.409 0 0 0 45
10 Plate 0.107 0.924 1.202 0 0 0 74
11 Plate -1.114 1.678 -1.614 0 0 0 68
12 Tomato -1.749 0.894 -0.175 0 90 0 89
13 Bowl 0.000 0.924 0.738 0 0 0 74
14 Bowl -1.803 1.675 0.201 0 90 0 89
15 SaltShaker -0.081 0.111 -1.222 0 0 0 45
16 SaltShaker -1.990 0.907 -1.113 0 0 0 66
17 PepperShaker 1.610 0.691 0.113 0 0 0 50
18 Lettuce 0.321 1.002 0.273 0 0 0 74
19 Lettuce 0.170 0.837 -1.380 0 0 0 90
20 Apple -1.783 0.892 0.201 0 90 0 89
21 SoapBottle -0.867 1.683 -1.614 0 0 0 68
22 Cup 1.117 0.909 -1.513 0 0 0 66
23 Pot -1.750 1.680 -0.175 0 90 0 89
24 Fork 1.866 0.350 0.116 0 270 0 62
25 Ladle 1.762 0.269 1.153 0 0 0 75
26 Kettle 1.765 0.938 0.601 0 180 0 48
27 Egg -1.639 0.968 -0.914 0 0 0 66
28 Plate 1.802 0.910 -1.513 0 0 0 66
29 Pan 1.746 0.911 0.025 0 0 0 66
30 Lettuce -0.175 0.837 -1.490 0 0 0 90
31 Spatula 0.083 0.775 -1.435 0 0 0 90
32 Apple -1.803 1.522 0.295 0 90 0 89
33 Knife 1.574 0.933 -1.221 0 0 0 66
34 SaltShaker 1.612 0.221 1.350 0 0 0 75
35 PepperShaker 0.361 0.109 -1.597 0 0 0 55
36 CellPhone 0.853 0.669 -1.301 0 0 0 47
37 ButterKnife 1.714 0.120 0.599 0 270 0 58
38 Bread -0.320 1.006 0.738 0 0 0 74
39 Tomato -1.750 1.524 -0.081 0 90 0 89
40 Potato -1.771 1.053 -0.269 0 90 0 89
41 DishSponge 1.713 0.225 0.462 0 0 0 60
42 Spoon 0.000 0.926 0.273 0 0 0 74
43 Mug -1.783 0.834 0.013 0 90 0 89
44 Bowl 0.000 0.924 0.970 0 0 0 74
45 Cabinet -0.495 0.474 -1.149 0 0 0
46 Window -0.010 1.582 -1.821 0 0 0
47 Drawer 0.805 0.475 -1.159 0 0 0
48 StoveBurner 1.764 0.902 0.601 0 270 0
49 Drawer 1.5 0.196 -0.019 0 0 0
50 Drawer 1.5 0.629 -0.018 0 0 0
51 Drawer 1.5 0.602 -0.019 0 270 0
52 StoveBurner 1.975 0.902 0.384 0 270 0
53 Cabinet -1.703 2.022 -1.453 0 90 0
54 Cabinet 1.789 2.019 -0.819 0 270 0
55 Cabinet 0.494 0.474 -1.149 0 0 0
56 Cabinet 0.409 0.475 0.444 0 0 0
57 Drawer -0.696 0.475 -1.159 0 0 0
58 Drawer 1.5 0.140 0.599 0 270 0
59 Cabinet 1.389 0.474 -1.149 0 0 0
60 Drawer 1.5 0.305 0.600 0 0 0
61 StoveBurner 1.975 0.902 0.601 0 270 0
62 Drawer 1.5 0.429 -0.019 0 0 0
63 StoveBurner 1.764 0.902 0.819 0 270 0
64 Drawer 1.5 0.519 1.220 0 0 0
65 Cabinet 1.705 2.019 -1.449 0 0 0
66 CounterTop 0.002 0.947 -1.513 0 0 0
67 Drawer 1.5 0.629 0.605 0 0 0
68 Cabinet -0.627 2.019 -1.449 0 0 0
69 StoveBurner 1.764 0.902 0.384 0 270 0
70 Drawer 1.5 0.538 0.600 0 0 0
71 Sink 0.0 0.893 -1.434 0 0 0
72 Drawer 1.5 0.782 1.220 0 270 0
73 Window 2.217 1.565 -0.384 0 0 0
74 CounterTop -0.014 0.961 0.505 0 0 0
75 Drawer 1.5 0.200 1.220 0 0 0
76 StoveBurner 1.975 0.902 0.819 0 270 0
77 Window -3.240 1.616 2.693 0 270 0
78 Cabinet -1.389 0.474 -1.149 0 0 0
79 LightSwitch -0.153 1.291 3.700 0 180 0
80 GarbageCan -1.796 0.009 1.330 0 270 358.295
81 StoveKnob 1.602 0.917 0.570 0 270 180
82 StoveKnob 1.602 0.917 0.625 0 270 180
83 StoveKnob 1.602 0.917 0.739 0 270 180
84 StoveKnob 1.602 0.917 0.680 0 270 180
85 StoveKnob 1.602 0.917 0.462 0 270 180
86 StoveKnob 1.602 0.917 0.517 0 270 180
87 Microwave 1.932 0.899 -0.766 0 270 0
88 CoffeeMachine 1.355 0.899 -1.596 0 0 0
89 Fridge -1.764 0.0 0.014 0 90 0
90 SinkBasin -0.014 0.736 -1.435 0 0 0
91 Toaster 1.977 0.900 -0.336 0 270 0
92 Faucet -0.020 1.137 -1.605 0 270 0
93 Chair -9.354 0.000 1.242 0 180 0
94 NorthWall
95 EastWall
96 SouthWall
97 WestWall | [
"STEP 1: Turn around and move to the microwave on the left. | STEP 2: Pick up the knife to your right. | STEP 3: Turn around and move around the island to the loaf of bread on the counter. | STEP 4: Slice the bread on the counter. | STEP 5: Turn to the right and move around the counter to the microwave. | STEP 6: P... | [
[
"STEP 1: Turn around and move to the microwave on the left. ",
" STEP 2: Pick up the knife to your right. ",
" STEP 3: Turn around and move around the island to the loaf of bread on the counter. ",
" STEP 4: Slice the bread on the counter. ",
" STEP 5: Turn to the right and move around the cou... | seen |
trial_T20190909_075240_427378-1 | Put a knife in the microwave and a slice of bread in the refrigerator. | [
[
"id",
" object_type",
" position_x",
" position_y",
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" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
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" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 0 0 0
1 Kettle -0.213 0.926 0.041 0 0 0 74
2 Kettle 1.975 0.938 0.601 0 180 0 61
3 DishSponge -1.796 0.040 1.371 0 270 0 80
4 DishSponge -1.764 1.661 -0.905 0 90 0 53
5 Spoon 1.713 0.471 -0.020 0 0 0 62
6 Spatula -1.902 0.926 -0.864 0 270 0 66
7 Spatula 0.889 0.926 -1.221 0 0 0 66
8 Pot -1.668 0.915 -1.610 0 0 0 66
9 Pot -0.193 0.118 -1.409 0 0 0 45
10 Plate 0.107 0.924 1.202 0 0 0 74
11 Plate -1.114 1.678 -1.614 0 0 0 68
12 Tomato -1.749 0.894 -0.175 0 90 0 89
13 Bowl 0.000 0.924 0.738 0 0 0 74
14 Bowl -1.803 1.675 0.201 0 90 0 89
15 SaltShaker -0.081 0.111 -1.222 0 0 0 45
16 SaltShaker -1.990 0.907 -1.113 0 0 0 66
17 PepperShaker 1.610 0.691 0.113 0 0 0 50
18 Lettuce 0.321 1.002 0.273 0 0 0 74
19 Lettuce 0.170 0.837 -1.380 0 0 0 90
20 Apple -1.783 0.892 0.201 0 90 0 89
21 SoapBottle -0.867 1.683 -1.614 0 0 0 68
22 Cup 1.117 0.909 -1.513 0 0 0 66
23 Pot -1.750 1.680 -0.175 0 90 0 89
24 Fork 1.866 0.350 0.116 0 270 0 62
25 Ladle 1.762 0.269 1.153 0 0 0 75
26 Kettle 1.765 0.938 0.601 0 180 0 48
27 Egg -1.639 0.968 -0.914 0 0 0 66
28 Plate 1.802 0.910 -1.513 0 0 0 66
29 Pan 1.746 0.911 0.025 0 0 0 66
30 Lettuce -0.175 0.837 -1.490 0 0 0 90
31 Spatula 0.083 0.775 -1.435 0 0 0 90
32 Apple -1.803 1.522 0.295 0 90 0 89
33 Knife 1.574 0.933 -1.221 0 0 0 66
34 SaltShaker 1.612 0.221 1.350 0 0 0 75
35 PepperShaker 0.361 0.109 -1.597 0 0 0 55
36 CellPhone 0.853 0.669 -1.301 0 0 0 47
37 ButterKnife 1.714 0.120 0.599 0 270 0 58
38 Bread -0.320 1.006 0.738 0 0 0 74
39 Tomato -1.750 1.524 -0.081 0 90 0 89
40 Potato -1.771 1.053 -0.269 0 90 0 89
41 DishSponge 1.713 0.225 0.462 0 0 0 60
42 Spoon 0.000 0.926 0.273 0 0 0 74
43 Mug -1.783 0.834 0.013 0 90 0 89
44 Bowl 0.000 0.924 0.970 0 0 0 74
45 Cabinet -0.495 0.474 -1.149 0 0 0
46 Window -0.010 1.582 -1.821 0 0 0
47 Drawer 0.805 0.475 -1.159 0 0 0
48 StoveBurner 1.764 0.902 0.601 0 270 0
49 Drawer 1.5 0.196 -0.019 0 0 0
50 Drawer 1.5 0.629 -0.018 0 0 0
51 Drawer 1.5 0.602 -0.019 0 270 0
52 StoveBurner 1.975 0.902 0.384 0 270 0
53 Cabinet -1.703 2.022 -1.453 0 90 0
54 Cabinet 1.789 2.019 -0.819 0 270 0
55 Cabinet 0.494 0.474 -1.149 0 0 0
56 Cabinet 0.409 0.475 0.444 0 0 0
57 Drawer -0.696 0.475 -1.159 0 0 0
58 Drawer 1.5 0.140 0.599 0 270 0
59 Cabinet 1.389 0.474 -1.149 0 0 0
60 Drawer 1.5 0.305 0.600 0 0 0
61 StoveBurner 1.975 0.902 0.601 0 270 0
62 Drawer 1.5 0.429 -0.019 0 0 0
63 StoveBurner 1.764 0.902 0.819 0 270 0
64 Drawer 1.5 0.519 1.220 0 0 0
65 Cabinet 1.705 2.019 -1.449 0 0 0
66 CounterTop 0.002 0.947 -1.513 0 0 0
67 Drawer 1.5 0.629 0.605 0 0 0
68 Cabinet -0.627 2.019 -1.449 0 0 0
69 StoveBurner 1.764 0.902 0.384 0 270 0
70 Drawer 1.5 0.538 0.600 0 0 0
71 Sink 0.0 0.893 -1.434 0 0 0
72 Drawer 1.5 0.782 1.220 0 270 0
73 Window 2.217 1.565 -0.384 0 0 0
74 CounterTop -0.014 0.961 0.505 0 0 0
75 Drawer 1.5 0.200 1.220 0 0 0
76 StoveBurner 1.975 0.902 0.819 0 270 0
77 Window -3.240 1.616 2.693 0 270 0
78 Cabinet -1.389 0.474 -1.149 0 0 0
79 LightSwitch -0.153 1.291 3.700 0 180 0
80 GarbageCan -1.796 0.009 1.330 0 270 358.295
81 StoveKnob 1.602 0.917 0.570 0 270 180
82 StoveKnob 1.602 0.917 0.625 0 270 180
83 StoveKnob 1.602 0.917 0.739 0 270 180
84 StoveKnob 1.602 0.917 0.680 0 270 180
85 StoveKnob 1.602 0.917 0.462 0 270 180
86 StoveKnob 1.602 0.917 0.517 0 270 180
87 Microwave 1.932 0.899 -0.766 0 270 0
88 CoffeeMachine 1.355 0.899 -1.596 0 0 0
89 Fridge -1.764 0.0 0.014 0 90 0
90 SinkBasin -0.014 0.736 -1.435 0 0 0
91 Toaster 1.977 0.900 -0.336 0 270 0
92 Faucet -0.020 1.137 -1.605 0 270 0
93 Chair -9.354 0.000 1.242 0 180 0
94 NorthWall
95 EastWall
96 SouthWall
97 WestWall | [
"STEP 1: Turn around and go to the end of the counter and turn towards the microwave. | STEP 2: Pick up the knife on the on the counter, to your right. | STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. | STEP 4: Cut the loaf of bread on the edge of the is... | [
[
"STEP 1: Turn around and go to the end of the counter and turn towards the microwave. ",
" STEP 2: Pick up the knife on the on the counter, to your right. ",
" STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. ",
" STEP 4: Cut the loaf of ... | seen |
trial_T20190909_075240_427378-2 | put a slice of hot bread in the refrigerator | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 0 0 0
1 Kettle -0.213 0.926 0.041 0 0 0 74
2 Kettle 1.975 0.938 0.601 0 180 0 61
3 DishSponge -1.796 0.040 1.371 0 270 0 80
4 DishSponge -1.764 1.661 -0.905 0 90 0 53
5 Spoon 1.713 0.471 -0.020 0 0 0 62
6 Spatula -1.902 0.926 -0.864 0 270 0 66
7 Spatula 0.889 0.926 -1.221 0 0 0 66
8 Pot -1.668 0.915 -1.610 0 0 0 66
9 Pot -0.193 0.118 -1.409 0 0 0 45
10 Plate 0.107 0.924 1.202 0 0 0 74
11 Plate -1.114 1.678 -1.614 0 0 0 68
12 Tomato -1.749 0.894 -0.175 0 90 0 89
13 Bowl 0.000 0.924 0.738 0 0 0 74
14 Bowl -1.803 1.675 0.201 0 90 0 89
15 SaltShaker -0.081 0.111 -1.222 0 0 0 45
16 SaltShaker -1.990 0.907 -1.113 0 0 0 66
17 PepperShaker 1.610 0.691 0.113 0 0 0 50
18 Lettuce 0.321 1.002 0.273 0 0 0 74
19 Lettuce 0.170 0.837 -1.380 0 0 0 90
20 Apple -1.783 0.892 0.201 0 90 0 89
21 SoapBottle -0.867 1.683 -1.614 0 0 0 68
22 Cup 1.117 0.909 -1.513 0 0 0 66
23 Pot -1.750 1.680 -0.175 0 90 0 89
24 Fork 1.866 0.350 0.116 0 270 0 62
25 Ladle 1.762 0.269 1.153 0 0 0 75
26 Kettle 1.765 0.938 0.601 0 180 0 48
27 Egg -1.639 0.968 -0.914 0 0 0 66
28 Plate 1.802 0.910 -1.513 0 0 0 66
29 Pan 1.746 0.911 0.025 0 0 0 66
30 Lettuce -0.175 0.837 -1.490 0 0 0 90
31 Spatula 0.083 0.775 -1.435 0 0 0 90
32 Apple -1.803 1.522 0.295 0 90 0 89
33 Knife 1.574 0.933 -1.221 0 0 0 66
34 SaltShaker 1.612 0.221 1.350 0 0 0 75
35 PepperShaker 0.361 0.109 -1.597 0 0 0 55
36 CellPhone 0.853 0.669 -1.301 0 0 0 47
37 ButterKnife 1.714 0.120 0.599 0 270 0 58
38 Bread -0.320 1.006 0.738 0 0 0 74
39 Tomato -1.750 1.524 -0.081 0 90 0 89
40 Potato -1.771 1.053 -0.269 0 90 0 89
41 DishSponge 1.713 0.225 0.462 0 0 0 60
42 Spoon 0.000 0.926 0.273 0 0 0 74
43 Mug -1.783 0.834 0.013 0 90 0 89
44 Bowl 0.000 0.924 0.970 0 0 0 74
45 Cabinet -0.495 0.474 -1.149 0 0 0
46 Window -0.010 1.582 -1.821 0 0 0
47 Drawer 0.805 0.475 -1.159 0 0 0
48 StoveBurner 1.764 0.902 0.601 0 270 0
49 Drawer 1.5 0.196 -0.019 0 0 0
50 Drawer 1.5 0.629 -0.018 0 0 0
51 Drawer 1.5 0.602 -0.019 0 270 0
52 StoveBurner 1.975 0.902 0.384 0 270 0
53 Cabinet -1.703 2.022 -1.453 0 90 0
54 Cabinet 1.789 2.019 -0.819 0 270 0
55 Cabinet 0.494 0.474 -1.149 0 0 0
56 Cabinet 0.409 0.475 0.444 0 0 0
57 Drawer -0.696 0.475 -1.159 0 0 0
58 Drawer 1.5 0.140 0.599 0 270 0
59 Cabinet 1.389 0.474 -1.149 0 0 0
60 Drawer 1.5 0.305 0.600 0 0 0
61 StoveBurner 1.975 0.902 0.601 0 270 0
62 Drawer 1.5 0.429 -0.019 0 0 0
63 StoveBurner 1.764 0.902 0.819 0 270 0
64 Drawer 1.5 0.519 1.220 0 0 0
65 Cabinet 1.705 2.019 -1.449 0 0 0
66 CounterTop 0.002 0.947 -1.513 0 0 0
67 Drawer 1.5 0.629 0.605 0 0 0
68 Cabinet -0.627 2.019 -1.449 0 0 0
69 StoveBurner 1.764 0.902 0.384 0 270 0
70 Drawer 1.5 0.538 0.600 0 0 0
71 Sink 0.0 0.893 -1.434 0 0 0
72 Drawer 1.5 0.782 1.220 0 270 0
73 Window 2.217 1.565 -0.384 0 0 0
74 CounterTop -0.014 0.961 0.505 0 0 0
75 Drawer 1.5 0.200 1.220 0 0 0
76 StoveBurner 1.975 0.902 0.819 0 270 0
77 Window -3.240 1.616 2.693 0 270 0
78 Cabinet -1.389 0.474 -1.149 0 0 0
79 LightSwitch -0.153 1.291 3.700 0 180 0
80 GarbageCan -1.796 0.009 1.330 0 270 358.295
81 StoveKnob 1.602 0.917 0.570 0 270 180
82 StoveKnob 1.602 0.917 0.625 0 270 180
83 StoveKnob 1.602 0.917 0.739 0 270 180
84 StoveKnob 1.602 0.917 0.680 0 270 180
85 StoveKnob 1.602 0.917 0.462 0 270 180
86 StoveKnob 1.602 0.917 0.517 0 270 180
87 Microwave 1.932 0.899 -0.766 0 270 0
88 CoffeeMachine 1.355 0.899 -1.596 0 0 0
89 Fridge -1.764 0.0 0.014 0 90 0
90 SinkBasin -0.014 0.736 -1.435 0 0 0
91 Toaster 1.977 0.900 -0.336 0 270 0
92 Faucet -0.020 1.137 -1.605 0 270 0
93 Chair -9.354 0.000 1.242 0 180 0
94 NorthWall
95 EastWall
96 SouthWall
97 WestWall | [
"STEP 1: turn then walk to the microwave | STEP 2: pick up the knife is next to the microwave | STEP 3: \n turn and walk to the bread that is on the table | STEP 4: slice the bread that is on the table | STEP 5: walked back to the microwave | STEP 6: put the knife in the microwave | STEP 7: walk back to the b... | [
[
"STEP 1: turn then walk to the microwave ",
" STEP 2: pick up the knife is next to the microwave ",
" STEP 3: \n turn and walk to the bread that is on the table ",
" STEP 4: slice the bread that is on the table ",
" STEP 5: walked back to the microwave ",
" STEP 6: put the knife in th... | seen |
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Dataset Summary
This G-PlanET dataset is built on AI2 ALFRED.
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Paper:
arxiv.org
Point of Contact:
yuchenlin1995@gmail.com
Size of downloaded dataset files:
352 MB
Size of the auto-converted Parquet files:
44.7 MB
Number of rows:
23,839