item_id int64 60k 65.6k | source stringlengths 93 118 | duration int64 162 707 | task_descs stringlengths 18 106 | question stringlengths 92 181 | narrations listlengths 4 14 | num_turns int64 5 32 | turns listlengths 5 32 | distractor stringlengths 25 77 ⌀ | num_distractor_narrations int64 1 5 ⌀ |
|---|---|---|---|---|---|---|---|---|---|
60,221 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040327_147149 | 347 | Put the chilled lettuce in the kitchen sink | What's the robot's progress on putting the chilled lettuce in the kitchen sink? Please answer with a number from 0 to 100. | [
"Turn around and walk over to the counter left of the stove in the kitchen",
"Pick up the lettuce from the counter next to the tomato",
"Turn left and walk to the fridge",
"Put the lettuce in the fridge and remove it",
"Turn right and walk to the kitchen sink opposite the stove",
"Put the lettuce in the k... | 16 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040327_147149/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_... | null | null |
65,404 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_183807_477267 | 345 | Put a chilled mug under a coffee maker. | What's the robot's progress on placing the mug on the plate next to the coffee maker? Please answer with a number from 0 to 100. | [
"Go right and then turn left to face the coffee maker on the counter.",
"Pick the white mug up from under the coffee maker.",
"Go left and then turn toward the right to face the fridge.",
"Put the mug in the fridge and shut the door and then take the cup out again and shut the door.",
"Go right and cross to... | 7 | [
{
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"images": [
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_183807_477267/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_... | Place the mug on the plate next to the coffee maker. | 2 |
60,293 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-CounterTop-10/trial_T20190908_235919_129519 | 313 | Move a knife and a green cup to the counter. | What's the robot's progress on moving a knife and a green cup to the counter? Please answer with a number from 0 to 100. | [
"Walk forward then turn to the left. Then go forward to the counter and turn right to face it. ",
"Pick up the butter knife off of the counter. ",
"Turn to the left then right then left again to the brown shelf.",
"Place the knife inside of the green cup on the shelf.",
"Pick up the green cup with the knife... | 14 | [
{
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-CounterTop-10/trial_T20190908_235919_129519/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-Coun... | null | null |
65,573 | full_2.1.0/valid_unseen/pick_two_obj_and_place-AppleSliced-None-CounterTop-10/trial_T20190907_061133_385225 | 330 | Slicing up apples to eat | What's the robot's progress on throwing away the old lettuce from the kitchen? Please answer with a number from 0 to 100. | [
"Walk to the trash can in the kitchen",
"Bend down and get the fruit out of the trash",
"Turn around and walk to the counter by the fridge",
"Set the fruit down on the counter",
"Take the knife and cut the fruit in to slices",
"Take the knife to the kitchen sink",
"Slice the fruit that is in the sink",
... | 6 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 24,
"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-AppleSliced-None-CounterTop-10/trial_T20190907_061133_385225/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-AppleSliced-None-CounterTop-10/trial_T201... | Throw away the old lettuce from the kitchen. | 1 |
60,192 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061130_844814 | 340 | Put a washed bowl away in a kitchen cabinet. | What's the robot's progress on putting a washed bowl away in a kitchen cabinet? Please answer with a number from 0 to 100. | [
"Turn left, then go clockwise to face the opposite end of the kitchen island.",
"Pick up the bowl that is near the potted plant in the corner of the island.",
"Turn right and go counterclockwise around the island to the sink.",
"Wash the bowl in the sink.",
"Face the opposite direction and look up at the ca... | 15 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061130_844814/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T2019090... | null | null |
65,148 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-10/trial_T20190908_025420_586121 | 396 | Put a warm slice of bread on the counter. | What's the robot's progress on cutting a slice of bread and place it on the plate? Please answer with a number from 0 to 100. | [
"Turn around and walk to the counter top above the dishwasher, just past the refrigerator. ",
"Pick up the loaf of bread to the right of the toaster. ",
"Move over to your right so that you are directly in front of the knife's on the counter. ",
"Place the bread on the counter to the left of the knife's. ",
... | 6 | [
{
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-10/trial_T20190908_025420_586121/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop... | Cut a slice of bread and place it on the plate. | 2 |
60,127 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_T20190907_144323_122735 | 305 | cleaning up the kitchen. | What's the robot's progress on cleaning up the kitchen? Please answer with a number from 0 to 100. | [
"turn right, walk to the wall, turn left and head into the kitchen. Turn left in the kitchen and stop at the stove to your right.",
"open the microwave above the stove and take out the green cup.",
"turn to your left and go to the sink behind you.",
"put the green cup in the sink. ",
"grab the fork out of ... | 13 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_T20190907_144323_122735/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_... | null | null |
65,497 | full_2.1.0/valid_unseen/pick_two_obj_and_place-KeyChain-None-Safe-219/trial_T20190909_011850_153676 | 351 | Put two key-chains inside the safe or locker | What's the robot's progress on placing the key-chain on top of the vase? Please answer with a number from 0 to 100. | [
"Turn around, go to the white sofa",
"Pick up the key-chain from the sofa",
"Turn around and go to the safe on the floor to the right of a cabinet with a small statue",
"Open the safe, place the key-chain inside it, and close it",
"Turn around, move across the room to the somewhat blue sofa.",
"Pick the k... | 7 | [
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"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-KeyChain-None-Safe-219/trial_T20190909_011850_153676/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-KeyChain-None-Safe-219/trial_T20190909_011850_153... | Place the key-chain on top of the vase. | 2 |
65,553 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073656_715770 | 527 | Place a slice of cooked apple into the trash. | What's the robot's progress on cutting the apple into sections and place them on the plate? Please answer with a number from 0 to 100. | [
"Turn left, move to the counter, right of the refrigerator.",
"Pick up the knife from the counter.",
"Turn left, move to the bin at the end of the island.",
"Cut the apple, in the bin, in to sections.",
"Put the knife in the bin.",
"Pick up a section of apple.",
"Turn left, move to in front of the micro... | 12 | [
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"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073656_715770/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan... | Cut the apple into sections and place them on the plate. | 4 |
60,306 | full_2.1.0/valid_unseen/pick_and_place_simple-Vase-None-Safe-219/trial_T20190908_205221_748352 | 204 | Store a vase in a safe. | What's the robot's progress on storing a vase in a safe? Please answer with a number from 0 to 100. | [
"Walk to the dresser ahead of you.",
"Grab a vase from the dresser.",
"Walk to the shelf behind you on your right.",
"Place the vase in the safe."
] | 9 | [
{
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"full_2.1.0/valid_unseen/pick_and_place_simple-Vase-None-Safe-219/trial_T20190908_205221_748352/raw_im... | null | null |
60,001 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033157_424297 | 331 | Put a chilled potato in the microwave. | What's the robot's progress on putting a chilled potato in the microwave? Please answer with a number from 0 to 100. | [
"Go to the counter in front of you.",
"Pick up the potato the the left of the bread.",
"Go to the fridge behind you.",
"Chill the potato in the fridge.",
"Take the potato to the microwave to your right.",
"Placed a potato in the microwave."
] | 15 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033157_424297/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T2... | null | null |
65,314 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-CounterTop-10/trial_T20190908_235816_620828 | 214 | Put a cup with knife in it, on the counter. | What's the robot's progress on placing the knife into the bowl and put it on the counter? Please answer with a number from 0 to 100. | [
"Turn right, move to face the tomato on the counter, left of the stove. ",
"Pick up the smaller silver knife on the counter.",
"Turn around, bring the knife to the sink.",
"Put the knife in the green cup in the sink. ",
"Pick up the cup with knife in the sink. ",
"Turn around, bring the cup to the counter... | 6 | [
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"step_id": 0,
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-CounterTop-10/trial_T20190908_235816_620828/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Cup-Coun... | Place the knife into the bowl and put it on the counter. | 2 |
65,095 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817 | 327 | place two bars of soap inside the same garbage bin | What's the robot's progress on placing the soap bar on top of the towel next to the garbage bin? Please answer with a number from 0 to 100. | [
"turn around and walk forwards to the center of the two bathroom sinks ahead",
"grab a bar of soap off of the bathroom sink counter in between the two sinks",
"turn around and walk over to the right side corner of the room where the garbage bin is",
"place the bar inside of the garbage bin",
"turn right and... | 9 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | Place the soap bar on top of the towel next to the garbage bin. | 3 |
60,402 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_171806_406231 | 326 | Place a warmed mug in a coffee machine. | What's the robot's progress on placing a warmed mug in a coffee machine? Please answer with a number from 0 to 100. | [
"Turn around, then turn left at the window and walk to the counter with the coffee machine on it.",
"Pick up the mug from the coffee machine.",
"Turn to the stove to the left of the counter.",
"Place the mug in the microwave above the stove, warm it, then take it out.",
"Walk back to the coffee machine.",
... | 14 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_... | null | null |
65,369 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190908_115651_521111 | 417 | Put a washed piece of lettuce in a bin | What's the robot's progress on placing the cut lettuce on the plate? Please answer with a number from 0 to 100. | [
"Go to the kitchen island",
"Pick up a butterknife",
"Turn around to the counter",
"Cut the lettuce",
"Go to the middle of the counter",
"Put the butterknife down",
"Go to the left part of the counter",
"Pick up a lettuce piece",
"Go to the sink",
"Wash the lettuce",
"Go to the black bin",
"Pu... | 10 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190908_115651_521111/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-LettuceSliced-None-Garb... | Place the cut lettuce on the plate. | 4 |
65,072 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064221_368939 | 320 | Move two bars of soap from the counter to a golden can. | What's the robot's progress on placing the soap bar on the towel? Please answer with a number from 0 to 100. | [
"Turn around and walk towards the wall, then hang a right and walk up to the counter.",
"Pick up the closest bar of soap off of the counter.",
"Turn around and walk to the door, then turn right and walk over to the golden can on the ground in the corner of the room.",
"Put the bar of soap into the golden can.... | 6 | [
{
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064221_368939/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | Place the soap bar on the towel. | 2 |
60,202 | full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220545_153480 | 179 | Examine a pencil under a lamp. | What's the robot's progress on examining a pencil under a lamp? Please answer with a number from 0 to 100. | [
"Go to the desk on your right.",
"Grab a pencil from the desk.",
"Walk to the computer desk behind you and to your left.",
"Turn the lamp on."
] | 8 | [
{
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"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220545_153480/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Pencil-None-DeskLamp-308/trial_T20190908_220545_153... | null | null |
60,160 | full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_893506 | 184 | get the computer and turn on the lamp | What's the robot's progress on getting the computer and turn on the lamp? Please answer with a number from 0 to 100. | [
"walk over to the laptops",
"close the one on the right and pick it up ",
"take the laptop to the nightstand",
"turn on the lamp"
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_893506/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_181009_8... | null | null |
60,197 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061158_110530 | 421 | Put a bowl of water in the cupboard. | What's the robot's progress on putting a bowl of water in the cupboard? Please answer with a number from 0 to 100. | [
"Turn right and walk to the wall then turn right and walk to the left side of the stove then turn left to face it.",
"Look up and open the cupboard over the left side of the microwave and grab the bowl that's up there before closing the cupboard door.",
"Turn around and walk to the sink,",
"Fill the bowl with... | 19 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T2019090... | null | null |
65,458 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Tomato-None-GarbageCan-10/trial_T20190908_225359_617900 | 483 | Heat a tomato and place in the bin. | What's the robot's progress on cutting the tomato with the knife and place it on the plate? Please answer with a number from 0 to 100. | [
"Turn to the left and go around the island to the other side.",
"Pick up the tomato from the kitchen island. ",
"Turn around completely and head to the right. Then turn left once you reach the wall and go forward. Turn right and then left to face the oven. ",
"Place the tomato in the microwave above the oven.... | 9 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Tomato-None-GarbageCan-10/trial_T20190908_225359_617900/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Tomato-None-GarbageCan-10/trial_... | Cut the tomato with the knife and place it on the plate. | 2 |
60,223 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040303_217739 | 256 | Put cold lettuce in the sink. | What's the robot's progress on putting cold lettuce in the sink? Please answer with a number from 0 to 100. | [
"Go forward and turn to the right to the counter where the lettuce is.",
"Pick up the lettuce that is on the counter. ",
"Turn to the right and go to the fridge.",
"Open the fridge, put the lettuce inside, close the fridge, then open the fridge, remove the lettuce, and close the fridge. ",
"Turn to the righ... | 11 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_... | null | null |
60,137 | full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190909_203041_433487 | 287 | take the mug from the desk shelf to put it on the desk. | What's the robot's progress on taking the mug from the desk shelf to put it on the desk? Please answer with a number from 0 to 100. | [
"walk around to the desk and face the middle row of books",
"Pick up the white mug from the top shelf",
"walk the mug around to the side of the desk",
"set the mug on the desk"
] | 13 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190909_203041_433487/raw_imag... | null | null |
65,504 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173149_648833 | 303 | Put a cold egg in the sink. | What's the robot's progress on placing the egg in the bowl? Please answer with a number from 0 to 100. | [
"Cross the kitchen, go between the counter and the stove, then turn to the right and face the sink.",
"Pick up the egg from in the sink.",
"Bring the egg with you to go face the white fridge.",
"Open the fridge and put the egg inside, close the door and let it get cool, then take the egg back out of the fridg... | 7 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173149_648833/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T2019090... | Place the egg in the bowl. | 2 |
60,270 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081720_491733 | 305 | Put two soap in the cabinet | What's the robot's progress on putting two soap in the cabinet? Please answer with a number from 0 to 100. | [
"Turn left then head to the toilet tank",
"Pick up the soap on the tank",
"Turn around adjust your position and look at the sink cabinet",
"Open the cabinet and put in the soap then close the cabinet",
"Turn left head to the sink counter",
"Pick up the soap on the counter",
"Turn right then adjust your ... | 14 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081720_491733/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-Cabinet-424/trial_T20190909_081720... | null | null |
60,075 | full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_122024_052056 | 185 | Take the pencil from the desk, put it on the other side of the desk | What's the robot's progress on taking the pencil from the desk, put it on the other side of the desk? Please answer with a number from 0 to 100. | [
"Turn right, head to the desk",
"take the pencil from the desk",
"turn around, take a few steps to the right, face the desk",
"Put the pencil on the desk"
] | 8 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_122024_052056/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Pencil-None-Shelf-308/trial_T20190908_122024_052056/... | null | null |
60,236 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/trial_T20190908_112034_166152 | 219 | Put the fork in the green cup, put the cup on the counter | What's the robot's progress on putting the fork in the green cup, put the cup on the counter? Please answer with a number from 0 to 100. | [
"Turn to the right, take a couple steps, turn to the left",
"Head across the kitchen to the sink",
"Take the fork out of the sink",
"Put the fork in the green cup",
"Take the green cup out of the sink",
"Turn around, face the counter",
"Put the green cup on the counter"
] | 10 | [
{
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/trial_T20190908_112034_166152/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/tria... | null | null |
60,428 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-10/trial_T20190909_174840_771703 | 288 | Put chilled lettuce on the counter. | What's the robot's progress on putting chilled lettuce on the counter? Please answer with a number from 0 to 100. | [
"Step forward, then turn left to face the counter near the dishwasher.",
"Pick up the lettuce nearest to you from the counter.",
"Turn around and move forward, then turn right to go to the fridge.",
"Open the fridge, put the lettuce inside and chill it, then take the lettuce out.",
"Turn right and move forw... | 13 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-10/trial_T20190909_174840_771703/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-CounterTop-10/tria... | null | null |
60,313 | full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221016_460197 | 352 | Place two salt shakers in a drawer. | What's the robot's progress on placing two salt shakers in a drawer? Please answer with a number from 0 to 100. | [
"Turn around and walk ahead and veer right around the counter to face the counter to the right of the sink.",
"Pick up the salt shaker on the counter.",
"Turn left and walk to the left side of the stove.",
"Place the shaker in the top drawer to the left of the stove, in the front left corner.",
"Take a step... | 15 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221016_460197/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_... | null | null |
60,266 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Cloth-None-Cabinet-424/trial_T20190908_022321_380927 | 252 | Put a cleaned rag in the cabinet under the sink. | What's the robot's progress on putting a cleaned rag in the cabinet under the sink? Please answer with a number from 0 to 100. | [
"move to the sink to the left of the toilet",
"pick up a rag from the counter",
"move to the sink to the left of you",
"clean the rag in the sink",
"move away from the sink",
"put the rag in the cabinet under the sink"
] | 11 | [
{
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Cloth-None-Cabinet-424/trial_T20190908_022321_380927/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Cloth-None-Cabinet-424/trial_T201... | null | null |
60,229 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkBasin-10/trial_T20190907_194052_908074 | 227 | Put a frying pan with a knife in it into the sink. | What's the robot's progress on putting a frying pan with a knife in it into the sink? Please answer with a number from 0 to 100. | [
"Take a step forward, then turn right and walk towards the door, hang a right and walk around the kitchen island to to the far side.",
"Pick up the butter knife off of the right side of the kitchen island.",
"Turn left and walk forward, then hang a left and walk up to the stove.",
"Put the knife handle down i... | 9 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkBasin-10/trial_T20190907_194052_908074/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkB... | null | null |
60,523 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190912_190125_832581 | 219 | Put an egg in a bowl, on the counter. | What's the robot's progress on putting an egg in a bowl, on the counter? Please answer with a number from 0 to 100. | [
"Turn to the wooden shelf on our right. ",
"Pick up the tan bowl, on the third shelf. ",
"Turn to your right and go to the refrigerator, then make another right and go through the kitchen, to the small counter on the end, to your left, with the coffee maker on it. ",
"Pace the bowl on the left, front corner o... | 10 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190912_190125_832581/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/tria... | null | null |
60,535 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073839_704604 | 514 | Put the cooked apple piece in the trash bin | What's the robot's progress on putting the cooked apple piece in the trash bin? Please answer with a number from 0 to 100. | [
"Turn right and walk toward the fridge, then turn right into the kitchen and approach the sink",
"Pick up the butter knife from the sink",
"Turn right and walk around the end of the counter to the black trash bin",
"Cut the green apple in the bin with the knife",
"Put the knife in the trash bin",
"Pick up... | 24 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073839_704604/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan... | null | null |
60,170 | full_2.1.0/valid_unseen/look_at_obj_in_light-Bowl-None-DeskLamp-308/trial_T20190907_133935_066606 | 242 | Examine a bowl by the light of a desk lamp. | What's the robot's progress on examining a bowl by the light of a desk lamp? Please answer with a number from 0 to 100. | [
"Walk to the left side of the desk in front of you.",
"Pick up the bowl from the desk.",
"Turn right and walk in front of the lamp that is on the desk to the left of the bed.",
"Turn on the lamp."
] | 10 | [
{
"step_id": 0,
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"full_2.1.0/valid_unseen/look_at_obj_in_light-Bowl-None-DeskLamp-308/trial_T20190907_133935_066606/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Bowl-None-DeskLamp-308/trial_T20190907_133935_066606/... | null | null |
60,417 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114656_768805 | 325 | Put a cold pan on the counter top on top of the dishwasher. | What's the robot's progress on putting a cold pan on the counter top on top of the dishwasher? Please answer with a number from 0 to 100. | [
"Turn around, walk forward, turn right near the fridge, walk straight and turn left to face the stove. ",
"Pick up the pan from on top of the stove. ",
"Turn around, walk to the right to go back to the fridge. ",
"Open the fridge, put the pan in it, close the fridge, let it cool for a while, open the fridge, ... | 15 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190908_114656_768805/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Pan-None-CounterTop-10/trial_T20190... | null | null |
60,009 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182259_116320 | 422 | Heat and then chill an apple. | What's the robot's progress on heating and then chill an apple? Please answer with a number from 0 to 100. | [
"Move forward and then turn right to find the sink in the island.",
"Pick up the apple from the right side of the sink.",
"Carry the apple and turn around, and a few steps right, to the stove.",
"Place the apple in the microwave above and shut the door. Open the microwave and take out the apple and shut the d... | 18 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182259_116320/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
60,006 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033306_962974 | 386 | Put a chilled potato into the microwave. | What's the robot's progress on putting a chilled potato into the microwave? Please answer with a number from 0 to 100. | [
"Turn left and go to the fridge, then go to the sink on your right and face it.",
"Pick up the potato from the sink.",
"Turn right and carry the potato to the fridge.",
"Put the potato on the center front of the top fridge shelf and close the fridge door, then open the fridge and take it out again and re-clos... | 17 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T20190907_033306_962974/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Potato-None-Microwave-10/trial_T2... | null | null |
65,382 | full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163408_914117 | 294 | Move two pillows to the couch. | What's the robot's progress on taking the newspaper from the blue chair and place it on the coffee table? Please answer with a number from 0 to 100. | [
"Take a step forward, then turn right and walk over to the blue chair with two pillows on its seat.",
"Pick up the leftmost pillow off of the seat of the chair.",
"Turn around and begin walking across the room, then turn left and walk up to the couch.",
"Put the pillow vertically on the couch to the right of ... | 5 | [
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"step_id": 0,
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"images": [
"full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163408_914117/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163408_914117/... | Take the newspaper from the blue chair and place it on the coffee table. | 1 |
60,224 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040233_171346 | 300 | Place chilled lettuce into a sink | What's the robot's progress on placing chilled lettuce into a sink? Please answer with a number from 0 to 100. | [
"Turn to your right and step forward then turn left and and walk to the counter that is on your left past the fridge",
"Pick up the lettuce that is sitting on the counter",
"Turn around and take a step from the counter then turn right and walk to the fridge that is on your right.",
"Open the fridge and place ... | 13 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_T20190907_040233_171346/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-10/trial_... | null | null |
65,048 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_221355_558505 | 263 | Place a rinsed coffee cup into the coffee machine. | What's the robot's progress on placing the rinsed dish sponge on the counter? Please answer with a number from 0 to 100. | [
"Turn left, move to the counter right of the dishwasher.",
"Pick up the coffee cup from the counter.",
"Turn right, move to the island in front of the sink.",
"Place the coffee cup into the sink, rinse it, pick it back up.",
"Turn left, move to the end of the counter, in front of the coffee machine.",
"Pl... | 7 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_221355_558505/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Mug-None-CoffeeMachine-10/tria... | Place the rinsed dish sponge on the counter. | 1 |
65,188 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061130_844814 | 340 | Put a clean wooden bowl of water in a cabinet. | What's the robot's progress on placing the clean wooden bowl on the kitchen island? Please answer with a number from 0 to 100. | [
"Turn left and walk up to the kitchen island, then turn left and walk over to the fridge, turn right and walk around to the end of the kitchen island.",
"Pick up the wooden bowl off of the kitchen island.",
"Turn right and walk over to the counter, then turn left and walk over to the sink.",
"Put the wooden b... | 8 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061130_844814/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T2019090... | Place the clean wooden bowl on the kitchen island. | 1 |
65,051 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_T20190907_161853_945788 | 394 | Cook a potato, put the potato in the trash. | What's the robot's progress on peeling the potato and cut it into slices, then place them in the bowl? Please answer with a number from 0 to 100. | [
"Turn right and walk towards the refrigerator, turn right walk to the counter on the left with the potatoes on it.",
"Pick up one potato from the counter.",
"Go to the stove on your right, look up at the microwave.",
"Cook the potato in the microwave, remove the potato from the microwave.",
"Turn left and w... | 8 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_T20190907_161853_945788/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_... | Peel the potato and cut it into slices, then place them in the bowl. | 2 |
65,238 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083507_594820 | 479 | Put a heated cup in a cabinet. | What's the robot's progress on placing the green cup on the plate? Please answer with a number from 0 to 100. | [
"Head to the counter next to the stove on the left. ",
"Open the cabinet above and pick up the green cup from in there. ",
"Bring the cup to the microwave on the right. ",
"Heat the cup in the microwave. ",
"Bring the heated cup to the cabinet on the left next to the microwave. ",
"Put the heated cup in t... | 10 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083507_594820/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_08... | Place the green cup on the plate. | 2 |
65,371 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_123918_983775 | 707 | To heat a potato slice and place it in the fridge. | What's the robot's progress on cutting the potato into slices and place them on the plate? Please answer with a number from 0 to 100. | [
"Turn around and cross the room and turn around to face the end of the center table.",
"Pick up the knife on the counter.",
"Walk to the right past the center table and turn right to face the fridge.",
"Cut the potato on the bottom in the fridge into slices.",
"Turn left and step forward to face the shelves... | 14 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_123918_983775/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/tr... | Cut the potato into slices and place them on the plate. | 4 |
60,062 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120554_888709 | 290 | Wash an egg and put it in the microwave. | What's the robot's progress on washing an egg and put it in the microwave? Please answer with a number from 0 to 100. | [
"Turn and go to the counter to the right of the fridge where the toaster is.",
"Pick up the egg that is on the counter that is surrounded by three knives and between the two heads of lettuce.",
"With the egg in hand turn and go to the sink.",
"Place the egg in the sink to the left of the spatula and in front ... | 13 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120554_888709/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190... | null | null |
60,525 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190912_190125_832581 | 219 | Move a cup so that a potato can go in it. | What's the robot's progress on moving a cup so that a potato can go in it? Please answer with a number from 0 to 100. | [
"Walk to the shelf on your left.",
"Grab a plate from the second bottom shelf.",
"Walk to the coffee maker on your left.",
"Place the cup on the counter.",
"Grab a potato from the counter.",
"Place the potato in the cup."
] | 10 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190912_190125_832581/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/tria... | null | null |
60,434 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T20190907_173149_648833 | 303 | Chill and egg and then place it in the sink. | What's the robot's progress on chilling and egg and then place it in the sink? Please answer with a number from 0 to 100. | [
"Go to the right, and then turn right to find the sink in the island.",
"Pick up the egg from the sink.",
"Take the egg and turn right to find the fridge.",
"Place the egg inside the fridge and shut the door. Open the door, take the egg out and shut the door.",
"Take the egg and turn right to go back to the... | 13 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Egg-None-SinkBasin-10/trial_T2019090... | null | null |
65,347 | full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221141_608117 | 458 | Place two salt shakers in the drawer. | What's the robot's progress on placing the bread from the counter into the drawer? Please answer with a number from 0 to 100. | [
"Look down, turn left, walk straight, turn left to face the fridge, walk straight, turn right when you reach the fridge, walk straight, turn left to face the counter with the bread on the counter and look up to the cabinet.",
"Open the cabinet door, grab the salt in the cabinet, and close the cabinet.",
"Look d... | 7 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_221141_608117/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-PepperShaker-None-Drawer-10/trial_T20190912_... | Place the bread from the counter into the drawer. | 1 |
65,081 | full_2.1.0/valid_unseen/pick_two_obj_and_place-ToiletPaper-None-Cabinet-424/trial_T20190906_203003_627271 | 261 | Put the toilet paper in the cabinet. Put the empty toilet paper roll in to the cabinet. | What's the robot's progress on placing the toilet paper on the towel and then put it in the cabinet? Please answer with a number from 0 to 100. | [
"Go to the sink",
"pick up toilet paper on toilet",
"go to the cabinet under the sink",
"put toilet paper in cabinet",
"go to empty toilet paper roll.",
"pick up the empty toilet paper roll on floor",
"take empty toilet paper roll to cabinet",
"put empty toilet paper roll in cabinet"
] | 7 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-ToiletPaper-None-Cabinet-424/trial_T20190906_203003_627271/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-ToiletPaper-None-Cabinet-424/trial_T2019090... | Place the toilet paper on the towel and then put it in the cabinet. | 3 |
60,489 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-TomatoSliced-None-SinkBasin-10/trial_T20190909_025340_208825 | 404 | Cook a slice of tomato | What's the robot's progress on cooking a slice of tomato? Please answer with a number from 0 to 100. | [
"Turn left, go forward, turn left, go forward a bit, turn left to the counter",
"Take the tomato from the counter",
"Move a bit to the right",
"Put the tomato in the sink",
"Pick up the knife from the sink",
"Slice the tomato in the sink",
"Put the knife in the sink",
"Pick up a tomato slice from the ... | 18 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-TomatoSliced-None-SinkBasin-10/trial_T20190909_025340_208825/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-TomatoSliced-None-SinkBasin... | null | null |
60,239 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155006_533262 | 281 | Put a cup with a spoon on the counter. | What's the robot's progress on putting a cup with a spoon on the counter? Please answer with a number from 0 to 100. | [
"Go right and stand in front of the counter to the left of the stove.",
"Pick up the spoon from the counter.",
"GO to the left and stand in front of the brown shelves.",
"Put the spoon in the white cup on the shelf.",
"Pick the white cup up from the shelf.",
"Go right and then right again to stand in fron... | 13 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155006_533262/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/tr... | null | null |
60,500 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-424/trial_T20190907_074106_050405 | 204 | Put wet soap on the counter. | What's the robot's progress on putting wet soap on the counter? Please answer with a number from 0 to 100. | [
"Go forward and to the sink on your right.",
"Pick up the soap.",
"Move right an go to the sink on the right.",
"Put the soap in the sink and get it wet.",
"Move slightly to the left.",
"Put the soap on the counter."
] | 9 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-424/trial_T20190907_074106_050405/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-424/... | null | null |
65,013 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120632_691361 | 270 | Put a washed egg in a microwave. | What's the robot's progress on placing the egg in the bowl? Please answer with a number from 0 to 100. | [
"Turn left, go forward, turn right to the counter to the right of the sink.",
"Take the egg from the counter.",
"Go to the sink to the left.",
"Wash the egg in the sink, take the egg out of the sink.",
"Turn left, go forward a step, turn left, go to the oven.",
"Put the egg in the microwave above the oven... | 6 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120632_691361/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190... | Place the egg in the bowl. | 2 |
60,042 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T20190907_080730_211959 | 276 | To clean the spatula to put it in the drawer. | What's the robot's progress on cleaning the spatula to put it in the drawer? Please answer with a number from 0 to 100. | [
"Turn around to walk to the end of the island and turn left to face it.",
"Take the spatula on the counter.",
"Turn right and then left going around the island and then left to face the sink.",
"Put the spatula in the sink and turn the water on. Turn off the water and take the spatula back out.",
"Turn left... | 12 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Spatula-None-Drawer-10/trial_T201... | null | null |
65,189 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop-10/trial_T20190910_122059_929600 | 512 | cook an apple slice in the microwave | What's the robot's progress on placing the sliced apple on a plate and serve it? Please answer with a number from 0 to 100. | [
"turn left, walk across room to counter, turn left, walk forward, turn right to face counter",
"pick up the knife that is on the counter",
"turn right, take a few steps, turn left to face counter to the left of the stove",
"slice the apple that is on the counter",
"turn around to face the sink",
"put the ... | 11 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop-10/trial_T20190910_122059_929600/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop... | Place the sliced apple on a plate and serve it. | 4 |
65,542 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190913_033141_859977 | 201 | Put an egg in a bowl, on the counter. | What's the robot's progress on placing the apple from the cabinet onto the plate? Please answer with a number from 0 to 100. | [
"Turn to your right and go to the windows at the end of the room, then turn left and go to the cabinets straight ahead, below the coffee maker. ",
"Open the cabinets below the coffee maker and remove a bowl. ",
"Step closer to the cabinet in front of you. ",
"Set the bowl on the counter in front of you. ",
... | 8 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/trial_T20190913_033141_859977/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10/tria... | Place the apple from the cabinet onto the plate. | 1 |
60,288 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Tomato-None-Microwave-10/trial_T20190909_102608_318800 | 351 | Put a cold tomato in the microwave. | What's the robot's progress on putting a cold tomato in the microwave? Please answer with a number from 0 to 100. | [
"Turn left and walk to the black garbage that's in front of you and turn right to face it.",
"Pick up the tomato that's in front of you in the garbage.",
"Turn right and take a step then turn right to face the fridge.",
"Chill the tomato in the fridge then take it back out and close the door.",
"Turn right ... | 15 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Tomato-None-Microwave-10/trial_T20190909_102608_318800/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Tomato-None-Microwave-10/trial_T2... | null | null |
65,297 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-TomatoSliced-None-CounterTop-10/trial_T20190909_061838_159982 | 651 | Place a cold tomato slice on the counter. | What's the robot's progress on placing the sliced tomato into the bowl? Please answer with a number from 0 to 100. | [
"Turn right then right again and face the counter to your right.",
"Take the knife off of the counter in front of you.",
"Turn right and face the counter in front of you.",
"Slice the tomato above the counter in front of you.",
"Turn left and face the fridge to your right.",
"Place the knife inside of the... | 12 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-TomatoSliced-None-CounterTop-10/trial_T20190909_061838_159982/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-TomatoSliced-None-CounterT... | Place the sliced tomato into the bowl. | 4 |
60,505 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-424/trial_T20190907_074045_109439 | 236 | Put the rinsed soap on the bathroom counter | What's the robot's progress on putting the rinsed soap on the bathroom counter? Please answer with a number from 0 to 100. | [
"Turn left and face toward the bathroom counter between the sinks",
"Pick up the soap bar from the bathroom counter",
"Move slightly right then turn left to face the sink",
"Rinse the soap under water in the sink then remove it",
"Move slightly left then turn right to face the counter",
"Put the soap bar ... | 10 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-424/trial_T20190907_074045_109439/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-424/... | null | null |
60,173 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-GarbageCan-10/trial_T20190908_145356_918528 | 389 | Put a heated apple in the trash can. | What's the robot's progress on putting a heated apple in the trash can? Please answer with a number from 0 to 100. | [
"Go forward and turn to the right to face the trash can next to the counter.",
"Take the green apple on the right out of the trash can.",
"Turn around and go right and then turn to the left to face the microwave above the stove.",
"Put the apple in the microwave and shut the door and then open the door and ta... | 17 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-GarbageCan-10/trial_T20190908_145356_918528/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-GarbageCan-10/trial_T2... | null | null |
60,098 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190909_213855_654145 | 455 | Slice a lettuce, cool a slice | What's the robot's progress on slicing a lettuce, cool a slice? Please answer with a number from 0 to 100. | [
"Turn around, go forward, turn right, go forward a bit, turn left to the counter",
"Pick up the knife on the counter",
"Move a bit to the left",
"Slice the lettuce on the counter",
"Move a bit to the right",
"Put the knife on the counter",
"Move a bit to the left",
"Pick up a lettuce slice from the co... | 20 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190909_213855_654145/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-Garbag... | null | null |
60,279 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-TomatoSliced-None-CounterTop-10/trial_T20190909_061805_153515 | 379 | put chilled and sliced tomato piece on counter | What's the robot's progress on putting chilled and sliced tomato piece on counter? Please answer with a number from 0 to 100. | [
"walk to face counter with toaster",
"pick up sharp knife from counter",
"turn right to face statue on counter",
"cut tomato on counter",
"put knife on counter",
"pick up tomato slice from counter",
"walk to face fridge",
"chill and remove tomato slice from fridge",
"walk to face counter with statue... | 17 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-TomatoSliced-None-CounterTop-10/trial_T20190909_061805_153515/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-TomatoSliced-None-CounterT... | null | null |
60,497 | full_2.1.0/valid_unseen/pick_and_place_simple-BaseballBat-None-Bed-308/trial_T20190906_185530_954329 | 268 | To put a bat on a bed. | What's the robot's progress on putting a bat on a bed? Please answer with a number from 0 to 100. | [
"Left away from the desk, right at the bed and take a left at the end of the bed then take a right and go forward to the wall.",
"Pick up the bat leaning against the wall.",
"Turn right and go to the desk take a right at the desk and a left at the bed, go forward take a right and turn around to the right to the... | 12 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-BaseballBat-None-Bed-308/trial_T20190906_185530_954329/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-BaseballBat-None-Bed-308/trial_T20190906_185530_9... | null | null |
60,250 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155109_353266 | 242 | Put a spoon inside a white mug, place the mug on the counter | What's the robot's progress on putting a spoon inside a white mug, place the mug on the counter? Please answer with a number from 0 to 100. | [
"Turn around, head in to the kitchen",
"Stand in front of the counter next to the fridge",
"Take the spoon from the counter",
"Go to the fridge, open the door",
"Put the spoon inside the white mug inside the fridge",
"Take the white mug out of the fridge, close the door",
"Turn right, walk in to kitchen... | 11 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155109_353266/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/tr... | null | null |
60,326 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_123732_489327 | 583 | Put a slice of heated potato in the fridge. | What's the robot's progress on putting a slice of heated potato in the fridge? Please answer with a number from 0 to 100. | [
"Turn left and go to the side of the island without the sink.",
"Pick up the gray knife from the table. ",
"Turn left and go to the black trash can on the floor at the end of the island.",
"Slice the potato on the right in the trash can. ",
"Place the knife in the trash can. ",
"Take out one slice of pota... | 26 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_123732_489327/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/tr... | null | null |
60,462 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-SinkBasin-10/trial_T20190908_123236_460615 | 244 | Put a plate with a bottle on it in the sink. | What's the robot's progress on putting a plate with a bottle on it in the sink? Please answer with a number from 0 to 100. | [
"Take a tiny step forward then turn left to face the sink and step towards it.",
"Pick up the glass battle that's in the sink.",
"Turn around and take a step left then step towards the counter and look up.",
"Open the cupboard doors and put the bottle on the plate that's up there.",
"Pick up the plate with ... | 10 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-SinkBasin-10/trial_T20190908_123236_460615/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Glassbottle-Plate-S... | null | null |
65,376 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_124126_852630 | 402 | place a cooked potato slice in the fridge | What's the robot's progress on placing the apple from the table into the bowl? Please answer with a number from 0 to 100. | [
"move right to the table ",
"pick up the knife",
"move up to the potato on the table",
"slice the potato on the table",
"drop the knife on the coffee maker",
"pick up a slice of the potato",
"move left to the oven ",
"cook the potato in the oven and take it out",
"move left to the fridge",
"place... | 6 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_124126_852630/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/tr... | Place the apple from the table into the bowl. | 1 |
60,252 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_121635_622676 | 405 | Put a chilled coffee mug in the cabinet | What's the robot's progress on putting a chilled coffee mug in the cabinet? Please answer with a number from 0 to 100. | [
"Turn around and go to the front of the cabinet above the sink on the left of the stove. ",
"Take out the coffee mug in the cabinet. ",
"Turn left and go to the front of the refrigerator on the right. ",
"Remove the mug from the refrigerator after cooling in it. ",
"Move over right to the front of the cabin... | 18 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_121635_622676/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_12... | null | null |
65,460 | full_2.1.0/valid_unseen/look_at_obj_in_light-RemoteControl-None-FloorLamp-219/trial_T20190909_032721_511027 | 183 | Turn on the corner lamp. | What's the robot's progress on placing the newspaper on the dresser? Please answer with a number from 0 to 100. | [
"Turn to your left and go to the door, then turn right and go to the dresser against the wall. ",
"Pick up the remote behind the box of tissue, on the dresser. ",
"Turn to your left and go to the wall, then turn to the lamp to your right. ",
"Turn on the lamp in the corner. "
] | 6 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-RemoteControl-None-FloorLamp-219/trial_T20190909_032721_511027/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-RemoteControl-None-FloorLamp-219/trial_T201... | Place the newspaper on the dresser. | 1 |
65,221 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_T20190907_144323_122735 | 305 | Put cup in the sink. | What's the robot's progress on placing the cup on the stove? Please answer with a number from 0 to 100. | [
"Turn right and go to the right of the island. Go to the stove.",
"Open the microwave. Grab the green cup that is to the left of the white one. Shut the microwave door.",
"With the green cup in hand turn all the way around to go to the sink.",
"Place the cup in the sink to the left of the fork.",
"Pick up... | 10 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_T20190907_144323_122735/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-SinkBasin-10/trial_... | Place the cup on the stove. | 1 |
60,150 | full_2.1.0/valid_unseen/look_at_obj_in_light-BaseballBat-None-DeskLamp-308/trial_T20190906_214631_761426 | 235 | Examine a bat by the light of a lamp. | What's the robot's progress on examining a bat by the light of a lamp? Please answer with a number from 0 to 100. | [
"Head towards the bat on the floor in front of you.",
"Pick up the bat from the floor.",
"Turn around, head towards the bed, turn left towards the wall, and then turn left to face the lamp on the desk.",
"Turn on the lamp."
] | 10 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-BaseballBat-None-DeskLamp-308/trial_T20190906_214631_761426/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-BaseballBat-None-DeskLamp-308/trial_T20190906_... | null | null |
60,366 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224843_443882 | 602 | Place a piece of sliced bread in the microwave. | What's the robot's progress on placing a piece of sliced bread in the microwave? Please answer with a number from 0 to 100. | [
"Move to stand at the counter between the stove and dishwasher.",
"Pick up the butter knife by the green container. ",
"Carry the knife to stand at the edge of the counter beyond the kitchen sink. ",
"Slice the loaf of bread that's on the counter. ",
"Carry the knife to the fridge. ",
"Place the knife on ... | 27 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224843_443882/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-1... | null | null |
60,534 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073839_704604 | 514 | Put the heated slice apple in the trash bin | What's the robot's progress on putting the heated slice apple in the trash bin? Please answer with a number from 0 to 100. | [
"Move forward then turn right walk straight toward the fridge then turn right head to the sink",
"Pick up the knife in the sink",
"Turn right then walk forward then turn left facing the trash bin",
"Slice the apple in the bin",
"Drop the knife in the bin",
"Pick up the slice apple in the bin",
"Turn lef... | 23 | [
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"end_frame": 17,
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan-10/trial_T20190908_073839_704604/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-GarbageCan... | null | null |
65,143 | full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896 | 290 | Move a mug from the shelves to the desk. | What's the robot's progress on taking a book from the shelves and place it on the desk? Please answer with a number from 0 to 100. | [
"Cross the room and move over to the left side of it, then face the desk with the blue chair and the black laptop and look at the shelves above it.",
"Grab the white mug sitting on the shelf between the books.",
"Bring the mug with you and move around the desk so that you are between it and the bed, then turn r... | 9 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-Mug-None-Desk-308/trial_T20190908_125200_737896/raw_imag... | Take a book from the shelves and place it on the desk. | 1 |
60,242 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155134_457504 | 225 | Put a mug with a spoon in it on the counter. | What's the robot's progress on putting a mug with a spoon in it on the counter? Please answer with a number from 0 to 100. | [
"Turn around, go straight, then turn right to face the counter, to the right of the oven.",
"Pick up the spoon on the counter, to the left of the butter knives.",
"Turn left and go to the fridge ahead of you.",
"Put the spoon in the mug, on the top shelf of the fridge.",
"Pick up the mug with the spoon in i... | 9 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/trial_T20190907_155134_457504/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10/tr... | null | null |
60,498 | full_2.1.0/valid_unseen/pick_and_place_simple-BaseballBat-None-Bed-308/trial_T20190906_185459_653538 | 233 | Place a bat standing up on the bed. | What's the robot's progress on placing a bat standing up on the bed? Please answer with a number from 0 to 100. | [
"Turn right and begin walking across the room, then hang a left once past the table and walk over to the wall, then turn right and walk up to the bat in the corner of the room.",
"Pick up the black bat lying in the corner of the room.",
"Turn right and begin walk towards the wooden desk, then walk over to the s... | 10 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-BaseballBat-None-Bed-308/trial_T20190906_185459_653538/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-BaseballBat-None-Bed-308/trial_T20190906_185459_6... | null | null |
60,208 | full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021613_077537 | 260 | Move a salt shaker into a drawer. | What's the robot's progress on moving a salt shaker into a drawer? Please answer with a number from 0 to 100. | [
"Walk around the kitchen island to where the coffee machine is on the counter and look up at the upper cabinets.",
"Open the upper cabinet in front of you and take out the salt shaker, then close the cabinet.",
"Turn around and take a step forward, then turn right and walk towards the wall, stop before the sink... | 11 | [
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"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021613_077537/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Drawer-10/trial_T20190909_021613... | null | null |
60,067 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120712_273910 | 298 | Rinse and warm egg | What's the robot's progress on rinsing and warm egg? Please answer with a number from 0 to 100. | [
"Turn to the right, walk a few steps, turn right again, walk to the edge of the counter, turn right, walk to the counter with the egg on it",
"Pick up the egg from the counter",
"Turn around to the sink",
"Place egg in the sink, turn on the water, rinse the egg, pick up the egg",
"Turn around, walk to the m... | 13 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190909_120712_273910/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Egg-None-Microwave-10/trial_T20190... | null | null |
60,016 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538 | 333 | Put a heated apple next to the lettuce on the middle shelf in the refrigerator. | What's the robot's progress on putting a heated apple next to the lettuce on the middle shelf in the refrigerator? Please answer with a number from 0 to 100. | [
"Turn right and face the sink.",
"Pick up the apple next to the drain.",
"Turn around and face microwave above the stove.",
"Open the microwave and place the apple on the plate to the right of the egg. Turn on the microwave for a few seconds, then open the door and remove the heated apple. Close the door.",
... | 14 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
65,211 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061158_110530 | 421 | Put a clean bowl in a cabinet. | What's the robot's progress on placing the bowl on the kitchen table? Please answer with a number from 0 to 100. | [
"Turn around and cross the room and turn to the right and then the left to face the cabinet above the microwave.",
"Open the cabinet on the left, above the microwave, and take the bowl out.",
"Turn around and face the sink.",
"Put the bowl in the sink and turn the water on and then off and pick the bowl up ag... | 10 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T20190909_061158_110530/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Bowl-None-Cabinet-10/trial_T2019090... | Place the bowl on the kitchen table. | 2 |
60,084 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop-10/trial_T20190908_131500_521936 | 454 | Put a microwaved chunk of apple on the counter. | What's the robot's progress on putting a microwaved chunk of apple on the counter? Please answer with a number from 0 to 100. | [
"Turn right and walk to the wall then turn right and walk to the window then turn left to face the coffee maker then take a step to your left please.",
"Pick up the knife that's in front of you.",
"Turn left and walk to the sink on your left turning left once you get there to face the sink,.",
"Cut the apple ... | 20 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop-10/trial_T20190908_131500_521936/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-AppleSliced-None-CounterTop... | null | null |
60,153 | full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163240_345855 | 339 | place the two pillows on the sofa | What's the robot's progress on placing the two pillows on the sofa? Please answer with a number from 0 to 100. | [
"turn around and locate the chair",
"pick up the pillow from the chair",
"turn right and head for the sofa",
"drop the pillow on the sofa",
"turn left and head for the chair",
"pick up the other pillow",
"turn right towards the sofa",
"place the pillow on the sofa"
] | 16 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163240_345855/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-Pillow-None-Sofa-219/trial_T20190907_163240_345855/... | null | null |
60,077 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064309_357168 | 302 | Putting two bars of soap in the trash can | What's the robot's progress on putting two bars of soap in the trash can? Please answer with a number from 0 to 100. | [
"Go to the toilet",
"Grab a bar of soap that's on the toilet",
"Turn around and go to the trash can",
"Put the soap in the trash can",
"Turn around and go to the toilet",
"Grab a bar of soap off of the toilet",
"Turn around and go to the trash can",
"Put the soap in the trash can"
] | 13 | [
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064309_357168/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | null | null |
60,387 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Pencil-Bowl-Shelf-308/trial_T20190909_232711_494127 | 363 | put a bowl with a pencil in it on the desk | What's the robot's progress on putting a bowl with a pencil in it on the desk? Please answer with a number from 0 to 100. | [
"go forward go to the right turn to the right towards the desk",
"pick up the pencil from the book shelf",
"turn to the left go right turn to the left go right turn to the right towards the desk ",
"put the pencil inside the bowl that is in the desk",
"pick up the bowl from the desk",
"turn to the right ... | 17 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Pencil-Bowl-Shelf-308/trial_T20190909_232711_494127/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Pencil-Bowl-Shelf-308/trial_... | null | null |
60,228 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkBasin-10/trial_T20190907_194015_037530 | 196 | Put a pan with a knife in it in the sink. | What's the robot's progress on putting a pan with a knife in it in the sink? Please answer with a number from 0 to 100. | [
"Turn around, go to the end of the kitchen island, then turn left.",
"Pick up the butter knife on the kitchen island, in front of the fork.",
"Turn left, go straight, then turn left to face the stove.",
"Put the butter knife in the pan on the stove.",
"Pick up the pan on the stove, with the butter knife in ... | 9 | [
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"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkBasin-10/trial_T20190907_194015_037530/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-ButterKnife-Pan-SinkB... | null | null |
60,346 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_183853_958104 | 372 | Cool a mug in the fridge | What's the robot's progress on cooling a mug in the fridge? Please answer with a number from 0 to 100. | [
"Go forward a bit, turn left, go to the fridge, turn right, go to the end of the counter, turn left",
"Pick up the mug in the coffee maker",
"Turn left, go to the fridge, turn right",
"Open the fridge, put the cup in the fridge, close the fridge, wait, open the fridge, pick the cup, close the fridge",
"Turn... | 17 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_183853_958104/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_... | null | null |
60,517 | full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Knife-None-CounterTop-10/trial_T20190909_110445_675754 | 253 | Place a clean knife on a plate on the counter. | What's the robot's progress on placing a clean knife on a plate on the counter? Please answer with a number from 0 to 100. | [
"Turn left and move to the gray coffee maker to the right of the lettuce, then move to the silver dishwasher to the right of the black toaster.",
"Pick up the yellow handled knife to the left of the square plate from the counter.",
"Turn around and move to the sink to the right of the loaf of bread.",
"Place ... | 11 | [
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"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Knife-None-CounterTop-10/trial_T20190909_110445_675754/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_clean_then_place_in_recep-Knife-None-CounterTop-10/trial_... | null | null |
65,063 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190909_213642_049125 | 442 | Put a cold slice of lettuce in the garbage bin. | What's the robot's progress on buttering a slice of bread and place it on the plate? Please answer with a number from 0 to 100. | [
"Turn to your left and go to the refrigerator, then turn right and go to the counter top just past the refrigerator, on your left. ",
"Pick up the butter knife between the bread and the lettuce, on the counter top. ",
"Move over to the left side of the counter. ",
"Cut the head of lettuce closest to you, into... | 6 | [
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"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-GarbageCan-10/trial_T20190909_213642_049125/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-LettuceSliced-None-Garbag... | Butter a slice of bread and place it on the plate. | 2 |
60,038 | full_2.1.0/valid_unseen/look_at_obj_in_light-BasketBall-None-DeskLamp-308/trial_T20190907_161252_926204 | 245 | Examine a basketball in the light of a lamp. | What's the robot's progress on examining a basketball in the light of a lamp? Please answer with a number from 0 to 100. | [
"Turn around, then go straight, then turn left, then go forward, then turn left to face to bed.",
"Pick up the basketball in front of the bed.",
"Turn left, go forward, turn right, go forward, turn left, go to the wall, then turn left to face the lamp.",
"Turn on the lamp."
] | 10 | [
{
"step_id": 0,
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"full_2.1.0/valid_unseen/look_at_obj_in_light-BasketBall-None-DeskLamp-308/trial_T20190907_161252_926204/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-BasketBall-None-DeskLamp-308/trial_T20190907_16... | null | null |
65,122 | full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817 | 327 | Putting two bars of soap in the trash can | What's the robot's progress on placing the towel from the counter onto the hand towel rack? Please answer with a number from 0 to 100. | [
"Turn around and go to the counter between the sinks",
"Grab a bar of soap off of the counter",
"Turn around and go to the trash can",
"Put the soap in the trash can",
"Turn right and go to the left sink",
"Grab the bar of soap that's to the right of the sink",
"Turn around and go to the trash can",
"... | 5 | [
{
"step_id": 0,
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"end_frame": 21,
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"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_064053_839817/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_two_obj_and_place-SoapBar-None-GarbageCan-424/trial_T20190909_... | Place the towel from the counter onto the hand towel rack. | 1 |
65,152 | full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Cabinet-10/trial_T20190906_191429_743650 | 178 | place a salt shaker in the kitchen cabinet next to the fridge | What's the robot's progress on placing the pepper shaker on the top shelf of the three brown shelves? Please answer with a number from 0 to 100. | [
"head over to the three brown shelves",
"grab the salt shaker off of the brown shelf",
"walk over to the fridge",
"place the salt shaker in the cabinet to the bottom right of the fridge"
] | 5 | [
{
"step_id": 0,
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"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Cabinet-10/trial_T20190906_191429_743650/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_simple-SaltShaker-None-Cabinet-10/trial_T20190906_1914... | Place the pepper shaker on the top shelf of the three brown shelves. | 1 |
60,398 | full_2.1.0/valid_unseen/look_at_obj_in_light-CreditCard-None-FloorLamp-219/trial_T20190909_103553_077615 | 173 | Look at a credit card under a tall lamp | What's the robot's progress on looking at a credit card under a tall lamp? Please answer with a number from 0 to 100. | [
"turn left and take a step then turn right and face the couch",
"Pick up the red credit card that is sitting on the couch",
"Turn left and walk to the blue chair then turn right and face the couch and the tall floor lamp",
"Turn on the lamp"
] | 8 | [
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"full_2.1.0/valid_unseen/look_at_obj_in_light-CreditCard-None-FloorLamp-219/trial_T20190909_103553_077615/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-CreditCard-None-FloorLamp-219/trial_T20190909_... | null | null |
60,018 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538 | 333 | Refrigerator the heated apple | What's the robot's progress on refrigerator the heated apple? Please answer with a number from 0 to 100. | [
"Turn right towards the sink.",
"Pick up the apple in the sink.",
"Turn left, walk forward, then turn left at the stove.",
"Place the apple in the microwave and remove it.",
"Turn left and walk to the refrigerator.",
"Put the apple in the refrigerator."
] | 14 | [
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"step_id": 0,
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_182435_622538/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Apple-None-Fridge-10/trial_T20190906_... | null | null |
60,054 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_T20190907_161853_945788 | 394 | Put a cooked potato in the garbage can. | What's the robot's progress on putting a cooked potato in the garbage can? Please answer with a number from 0 to 100. | [
"Go to the right and walk to the fridge, hang a right and go to the counter between the dishwasher and stove. ",
"Pick up the potato that is on the counter. ",
"Go right to the microwave, raise the potato up.",
"Put the potato in the microwave, turn it on to cook, remove the potato. ",
"Go left towards towa... | 19 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_T20190907_161853_945788/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Potato-None-GarbageCan-10/trial_... | null | null |
65,254 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083346_800823 | 491 | Put a heated vase in the cabinet. | What's the robot's progress on placing the heated pan on the counter? Please answer with a number from 0 to 100. | [
"Turn around and go left and then left again to stand at the counter in front of all of the utensils.",
"Open the cupboard above and take out the green vase.",
"Go right and stand in front of the microwave.",
"Put the vase in the microwave, turn it on and then take it out and shut the door.",
"Move to the l... | 9 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_083346_800823/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Cup-None-Cabinet-10/trial_T20190907_08... | Place the heated pan on the counter. | 1 |
65,351 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_124126_852630 | 402 | place a cooked potato slice in the fridge | What's the robot's progress on cutting the apple into slices and place them on the plate? Please answer with a number from 0 to 100. | [
"move right to the table ",
"pick up the knife",
"move up to the potato on the table",
"slice the potato on the table",
"drop the knife on the coffee maker",
"pick up a slice of the potato",
"move left to the oven ",
"cook the potato in the oven and take it out",
"move left to the fridge",
"place... | 6 | [
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"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/trial_T20190909_124126_852630/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-10/tr... | Cut the apple into slices and place them on the plate. | 2 |
60,167 | full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_180831_140621 | 171 | Turn on the lamp next to the sofa while holding a laptop computer. | What's the robot's progress on turning on the lamp next to the sofa while holding a laptop computer? Please answer with a number from 0 to 100. | [
"Walk to the laptop computer on the tall brown dresser.",
"Close the laptop and pick it up.",
"Turn right and walk to the white sofa.",
"Look up and turn on the standing lamp next to the sofa."
] | 8 | [
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"images": [
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_180831_140621/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/look_at_obj_in_light-Laptop-None-FloorLamp-219/trial_T20190906_180831_1... | null | null |
60,365 | full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224843_443882 | 602 | placed a cooled slice of bread that you cut inside of the microwave | What's the robot's progress on placing a cooled slice of bread that you cut inside of the microwave? Please answer with a number from 0 to 100. | [
"move forwards to the end of the room, then turn left and walk until your reach the left side of the stove on your right",
"pick up the butter knife behind the green cup on the counter to the left of the stove",
"turn right and and walk to the end of the room, then turn right again until you reach the right sid... | 27 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-10/trial_T20190906_224843_443882/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_cool_then_place_in_recep-BreadSliced-None-Microwave-1... | null | null |
60,405 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_171933_349922 | 339 | Heat up a mug and place it under the coffee maker. | What's the robot's progress on heating up a mug and place it under the coffee maker? Please answer with a number from 0 to 100. | [
"Turn around and go left to the short side of the island.",
"Pick up the mug behind the spatula.",
"Take the mug around the island and find the stove on the right.",
"Open the microwave and place the mug inside. Turn on the microwave and then remove the mug. Shut the microwave door.",
"Carry the mug and tak... | 14 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 21,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_T20190907_171933_349922/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-10/trial_... | null | null |
60,367 | full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_021200_669381 | 482 | microwave a mug and then put it away in the cabinet | What's the robot's progress on microwaving a mug and then put it away in the cabinet? Please answer with a number from 0 to 100. | [
"turn right and walk straight then turn right and walk straight towards the fridge and turn right then turn left at the counter and look up",
"open the cabinet and pick up the mug and close the door",
"turn right and walk straight then turn left towards the stove and look up",
"open the microwave door and put... | 21 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_021200_669381/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_heat_then_place_in_recep-Mug-None-Cabinet-10/trial_T20190909_02... | null | null |
65,233 | full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/trial_T20190918_231203_583927 | 215 | Put the container with fork on the counter | What's the robot's progress on placing the fork into the bowl? Please answer with a number from 0 to 100. | [
"Turn right then walk forward head to the sink",
"Pick up the fork in the sink",
"Turn left then face the left cabinet below the coffee maker",
"Open the cabinet put in the fork in the green container",
"Pick up the green container then close the cabinet",
"Look up the counter beside the stove",
"Put th... | 6 | [
{
"step_id": 0,
"start_frame": 0,
"end_frame": 20,
"images": [
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/trial_T20190918_231203_583927/raw_images/000000000.jpg",
"full_2.1.0/valid_unseen/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-10/tria... | Place the fork into the bowl. | 2 |
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