unique_id
stringlengths 95
141
| task_type
listlengths 3
3
| input_type
stringclasses 1
value | robotic_type
stringclasses 1
value | question
stringlengths 100
266
| gt_answer
stringlengths 2
821
| image_urls
listlengths 1
16
|
|---|---|---|---|---|---|---|
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <pouring contents from a orange cup onto a tray> as the goal, steps so far are shown in the video, what is the next step to do?
|
4-move_to(orange_cup, tray)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <pouring contents from a orange cup onto a tray> as the goal, steps so far are shown in the video, is step 3-pick_up(orange_cup) finished?
|
no
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <transferring a spoonful of items from a bowl to a jug> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 9 steps.
|
1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, bowl),5-scoop(spoon, unknown , bowl),6-move_to(spoon, jug),7-pour(spoon, unknown , jug),8-move_to(spoon, table),9-place(spoon, table)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <transferring a spoonful of items from a bowl to a jug> as the goal, steps so far are shown in the video, what is the next step to do?
|
5-scoop(spoon, unknown, bowl)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <transferring a spoonful of items from a bowl to a jug> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <dispensing a bowl and placing a fry in it> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 7 steps.
|
1-move_to(none,button_on_the_appliance),2-grasp(button_on_the_appliance),3-press(button_on_the_appliance),4-move_to(none, fry),5-grasp(fry),6-pick_up(fry),7-move_to(fry, bowl),8-place(fry, bowl)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <dispensing a bowl and placing a fry in it> as the goal, steps so far are shown in the video, what is the next step to do?
|
4-move_to(none, fry)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <dispensing a bowl and placing a fry in it> as the goal, steps so far are shown in the video, is step 4-move_to(none, fry) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png",
"frame_15.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <placing a box onto a stack of books> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 5 steps.
|
1-move_to(none, box),2-grasp(box),3-pick_up(box),4-move_to(box, books),5-place(box, books)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <placing a box onto a stack of books> as the goal, steps so far are shown in the video, what is the next step to do?
|
3-pick_up(box)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <placing a box onto a stack of books> as the goal, steps so far are shown in the video, is step 3-pick_up(box) finished?
|
no
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place the stuffed animal in the middle of the table> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 5 steps.
|
1-move_to(,nonestuffed_animal),2-grasp(stuffed_animal),3-pick_up(stuffed_animal),4-move_to(stuffed_animal, middle_of_table),5-place(stuffed_animal, middle_of_table)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place the stuffed animal in the middle of the table> as the goal, steps so far are shown in the video, what is the next step to do?
|
2-grasp(stuffed_animal)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png",
"frame_15.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place the stuffed animal in the middle of the table> as the goal, steps so far are shown in the video, is step 1-move_to(, nonestuffed_animal) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png",
"frame_15.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87825_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place the marker on the table and put it in the cup> as the goal, steps so far are shown in the video, what is the next step to do?
|
3-pick_up(marker)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87825_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place the marker on the table and put it in the cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87874_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <moving a tap to the right> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 3 steps.
|
1-move_to(none, tap),2-grasp(tap),3-turn(tap, anticlockwise, right_side_of_sink)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_88075_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <place a marker into a cup> as the goal, steps so far are shown in the video, what is the next step to do?
|
4-move_to(marker, cup)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_88075_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <place a marker into a cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_88330_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <moving a black bottle from a tray to a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_bottle) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png",
"frame_13.png",
"frame_14.png",
"frame_15.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <folding and unfolding a pair of jeans> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 3 steps.
|
1-grasp(jeans),2-fold(left_side_of_jeans, right_side_of_jeans),3-unfold(right_side_of_jeans, left_side_of_jeans)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <folding and unfolding a pair of jeans> as the goal, steps so far are shown in the video, what is the next step to do?
|
2-fold(left_side_of_jeans, right_side_of_jeans)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <folding and unfolding a pair of jeans> as the goal, steps so far are shown in the video, is step 1-grasp(jeans) finished?
|
no
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Pick up one pen from the table and put it in the white cup. Open the grey notebook on the table> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 7 steps.
|
1-grasp(pen),2-pick_up(pen),3-move_to(pen, cup),4-place(pen, cup),5-move_to(none, notebook),6-grasp(notebook),7-turn(notebook, anticlockwise, spread_flat_on_table)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Pick up one pen from the table and put it in the white cup. Open the grey notebook on the table> as the goal, steps so far are shown in the video, what is the next step to do?
|
2-pick_up(pen)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Pick up one pen from the table and put it in the white cup. Open the grey notebook on the table> as the goal, steps so far are shown in the video, is step 1-grasp(pen) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91155_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid) finished?
|
no
|
[
"frame_00.png",
"frame_01.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <place the knife on the green plate then put the pink plate on the dish rack> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 10 steps.
|
1-move_to(none, knife),2-grasp(knife),3-pick_up(knife),4-move_to(knife, green_plate),5-place(knife, green_plate),6-move_to(none, pink_plate),7-grasp(pink_plate),8-pick_up(pink_plate),9-move_to(pink_plate, dish _rack),10-place(pink_plate, dish _rack)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <place the knife on the green plate then put the pink plate on the dish rack> as the goal, steps so far are shown in the video, what is the next step to do?
|
6-move_to(none, pink_plate)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <place the knife on the green plate then put the pink plate on the dish rack> as the goal, steps so far are shown in the video, is step 5-place(knife, green_plate) finished?
|
no
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403_Q1
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place a banana and a pear from the basket on a plate> as the goal, plan what steps to do to complete the goal?
Please limit your answer to at most 8 steps.
|
1-grasp(banana),2-pick_up(banana),3-move_to(banana, plate),4-place(banana, plate),5-grasp(pear),6-pick_up(pear),7-move_to(pear, plate),8-place(pear, plate)
|
[
"frame_00.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403_Q2
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place a banana and a pear from the basket on a plate> as the goal, steps so far are shown in the video, what is the next step to do?
|
5-grasp(pear)
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png"
] |
3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403_Q3
|
[
"3_generalized_planning",
"cross_embodiment",
"single_arm"
] |
video
|
single-arm
|
With <Place a banana and a pear from the basket on a plate> as the goal, steps so far are shown in the video, is step 4-place(banana, plate) finished?
|
yes
|
[
"frame_00.png",
"frame_01.png",
"frame_02.png",
"frame_03.png",
"frame_04.png",
"frame_05.png",
"frame_06.png",
"frame_07.png",
"frame_08.png",
"frame_09.png",
"frame_10.png",
"frame_11.png",
"frame_12.png"
] |
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