| [ |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the door handle>, 2-<grasp the door handle>, what's the next set of five steps to move closer to <closing a door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the door closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_10.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_11.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_12.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_13.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3333/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <moving bread from a cloth to the lower middle of a table>. After completing 1-<reach for the bread>, 2-<grasp the bread>, 3-<lift the bread>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the bread over the table>, 5-<place the bread on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_14.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_15.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4027/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the pot>, 2-<grab the pot>, 3-<move the pot towards the napkin>. What are the next five tasks to take toward the goal of <placing a pot onto a napkin>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<place the pot on the napkin>, 5-<release the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_14.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_15.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_16.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_17.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_18.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_19.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17325/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the towel>. What are the next five tasks to take toward the goal of <wiping a plate dry with a towel>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<wipe the plate>, 3-<put down the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_17.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_158/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the mug>. What are the next five tasks to take toward the goal of <moving a mug from right to left on a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the mug>, 3-<lift the mug>, 4-<move the mug to the left>, 5-<place the mug down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4062/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_458", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<move towards the hexagon block>, 2-<pick up the hexagon block>, 3-<move the hexagon block towards the sorting board>, 4-<insert the hexagon block into the correct hole>, what's the next set of five steps to move closer to <inserting a hexagon block into the matching hole on a blue sorting board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release the hexagon block>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_14.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_15.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_16.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_17.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_18.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_19.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_20.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_21.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_22.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_23.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_24.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_25.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_26.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_27.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_458/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a piece of sushi to the right of a green cloth> as the goal and the steps 1-<reach for the sushi>, 2-<grasp the sushi>, 3-<lift the sushi> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the sushi to the right of the green cloth>, 5-<place the sushi on the table>, 6-<release the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23924/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a spoon to the bottom right corner of a table> as the goal and the steps 1-<reach for the spoon>, 2-<grasp the spoon>, 3-<lift the spoon> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the spoon towards the bottom right corner of the table>, 5-<place the spoon on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_14.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24399/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <moving a ketchup bottle from a oven to a table>, what are the next five steps after completing 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the ketchup bottle towards the table>, 5-<place the ketchup bottle on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_10.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_11.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_12.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_13.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_14.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_15.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9074/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing broccoli in a pot>, what are the next five steps after completing 1-<reach for the broccoli>, 2-<grab the broccoli>, 3-<move broccoli towards the pot>, 4-<place broccoli in the pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release broccoli>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_14.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_15.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_16.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_17.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_18.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_19.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_20.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_21.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_22.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_23.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_24.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_25.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3905/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <placing a spoon next to a cloth>. After completing 1-<reach for the spoon>, 2-<grab the spoon>, 3-<lift the spoon>, 4-<move the spoon towards the cloth>, 5-<place the spoon next to the cloth>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_14.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_15.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_16.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_17.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_18.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_19.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_20.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_21.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_22.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_23.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_24.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21535/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the towel>, 2-<grasp the towel>, what's the next set of five steps to move closer to <picking up a towel>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_14.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_15.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_16.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_17.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1464/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the yellow towel>, 2-<grasp the yellow towel>, 3-<lift the yellow towel>, 4-<move the yellow towel to the other side of the table>. What are the next five tasks to take toward the goal of <moving a yellow towel to the other side of the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the yellow towel on the other side of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_10.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_12.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_13.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_14.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_15.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_16.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_17.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_18.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_19.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_20.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_21.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_22.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_23.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_24.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_25.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_26.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_27.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8933/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a strainer across a table>, what are the next five steps after completing 1-<reach for the strainer>, 2-<grasp the strainer>, 3-<lift the strainer>, 4-<move the strainer from left to right>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_14.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_15.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_16.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_17.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_18.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_19.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_20.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_21.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_22.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_23.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_24.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_25.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_26.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_27.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12693/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the loaf of bread>, 2-<grasp the loaf of bread>. What are the next five tasks to take toward the goal of <placing a loaf of bread into a compartment>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the loaf of bread>, 4-<move the loaf of bread towards the compartment>, 5-<place the loaf of bread into the compartment>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_8/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <turning on a toaster>, what are the next five steps after completing 1-<reach for the toaster>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<press the lever down to turn on the toaster>, 3-<keep the lever pressed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_8.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_9.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_9066/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <opening a cabinet door> as the goal and the steps 1-<reach for the cabinet door handle>, 2-<grasp the handle> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the cabinet door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_10.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_11.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_12.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_13.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_14.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2794/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <picking up a bowl> as the goal and the steps 1-<reach for the bowl>, 2-<grab the bowl> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_8.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_9.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_13.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_14.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_15.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_16.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_17.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_18.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8462/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <placing a bowl into an oven> as the goal and the steps 1-<reach for the bowl>, 2-<grasp the bowl>, 3-<move towards oven with the bowl>, 4-<open the oven door> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the bowl inside the oven>, 6-<close the oven door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_8.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_9.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_13.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_14.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_15.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_16.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_17.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_18.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_19.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_20.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_21.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_22.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8664/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_248", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a brown object into a designated slot>. After completing 1-<move towards the brown object>, 2-<pick up the brown object>, 3-<move towards the slot on the pink base>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<insert the brown object into the slot>, 5-<release the brown object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_16.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_17.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_18.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_19.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_20.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_21.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_248/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <inserting a star-shaped object into its matching slot>, what are the next five steps after completing 1-<pick up the star object>, 2-<position the star object above the matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<insert the star object into the slot>, 4-<release the star object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4268/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a bowl across a table>, what are the next five steps after completing 1-<reach for the bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the bowl>, 3-<lift the bowl>, 4-<move the bowl across the table>, 5-<release the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4174/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a pear onto a green napkin> as the goal and the steps 1-<reach for the pear>, 2-<grasp the pear>, 3-<lift the pear> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the pear towards the napkin>, 5-<place the pear onto the napkin>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_17.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_18.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14514/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <moving a ketchup bottle from a table to a oven>, what are the next five steps after completing 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, 4-<move the ketchup bottle towards the oven>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the ketchup bottle on top of the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6388/frame_7.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2467", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach towards the toaster>, what's the next set of five steps to move closer to <turn on a toaster>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<press the lever down to turn on the toaster>, 3-<keep the lever down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2467/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2467/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2467/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3842", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, what's the next set of five steps to move closer to <moving a ketchup bottle from a plate to a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the ketchup bottle from the plate>, 4-<move the ketchup bottle towards the table>, 5-<place the ketchup bottle on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3842/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3842/frame_1.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7434", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nWith <inserting a three-pronged object into its matching slot> as the goal and the steps 1-<reach for the three-pronged object> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up the three-pronged object>, 3-<move the object towards the matching slot>, 4-<align the prongs with the openings>, 5-<insert the object into the slot>, 6-<release the object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7434/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7434/frame_1.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_162", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <placing a cucumber into a cup>. After completing 1-<reach for the cucumber>, 2-<grasp the cucumber>, 3-<lift the cucumber>, 4-<move the cucumber towards the cup>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the cucumber into the cup>, 6-<release the cucumber>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_162/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_162/frame_1.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_276", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<move towards the red object>, 2-<grab the red object>, what's the next set of five steps to move closer to <picking up a red object from a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_276/frame_0.png", |
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| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_276/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<move towards the bowl>, 2-<grab the bowl>, what's the next set of five steps to move closer to <placing a bowl onto a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the bowl>, 4-<move the bowl towards the plate>, 5-<place the bowl on the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24857/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<hover over the mushroom in the pot>, 2-<grab the mushroom>, 3-<lift the mushroom out of the pot>, what's the next set of five steps to move closer to <taking a mushroom out of a pot and placing it on a towel>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the mushroom towards the towel>, 5-<place the mushroom on the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_9.png", |
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| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_14.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_15.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_16.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_17.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_18.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_19.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24788/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nWith <moving a brush next to a pot> as the goal and the steps 1-<pick up the brush> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the brush>, 3-<place the brush down next to the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21385/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <dragging a strainer forwards> as the goal and the steps 1-<reach for the strainer> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the strainer>, 3-<drag the strainer forwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1332/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <moving a pot from a stovetop to a towel>. After completing 1-<reach for the pot on the stove>, 2-<grab the pot>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the pot>, 4-<move the pot towards the towel>, 5-<place the pot on the towel>, 6-<release the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25307/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the cup>, 2-<grasp the cup>, what's the next set of five steps to move closer to <placing a cup into a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move the cup towards the drawer>, 4-<place the cup inside the drawer>, 5-<release the cup>, 6-<move away from the drawer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1346/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the mushroom>, what's the next set of five steps to move closer to <moving a mushroom onto a blue cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the mushroom>, 3-<lift the mushroom>, 4-<move the mushroom towards the blue cloth>, 5-<place the mushroom onto the blue cloth>, 6-<release the mushroom>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13025/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a red object into a designated slot>. After completing 1-<pick up the red object>, 2-<move towards the target slot>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<insert the red object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_14.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_15.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7533/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4353", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nTo work toward <closing a oven lid>, what are the next five steps after completing 1-<reach for the oven lid>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the oven lid>, 3-<close the oven lid>, 4-<release the oven lid>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4353/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4353/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4353/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4353/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4353/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <retrieving broccoli from a pan>, what are the next five steps after completing 1-<move towards the pan>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up the broccoli from the pan>, 3-<lift the broccoli>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10325/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<pick up the double-square object>, 2-<position the double-square object over the matching slot>, 3-<insert the double-square object into the slot>, what's the next set of five steps to move closer to <inserting a double-square object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<release the double-square object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_22.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_23.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_24.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_25.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6427/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <uprighting a metal pot inside a cardboard fence>, what are the next five steps after completing 1-<reach for the pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the pot>, 3-<lift and upright the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6069/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <topple a cardboard fence>, what are the next five steps after completing 1-<move towards the cardboard fence>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<knock over the cardboard fence>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_11.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_12.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_13.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16288/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the butter stick>, 2-<grab the butter stick>, what's the next set of five steps to move closer to <placing a butter stick on a wooden board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the butter stick>, 4-<move the butter stick towards the board>, 5-<place the butter stick on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_14.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_15.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13042/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<move towards the sponge>, 2-<grab the sponge>, what's the next set of five steps to move closer to <picking up a sponge>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the sponge>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_947/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <repositioning a pot on a countertop>, what are the next five steps after completing 1-<reach for the pot>, 2-<grasp the pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the pot>, 4-<move the pot towards the towel>, 5-<place the pot between the fork and the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_13.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11592/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <opening a door> as the goal and the steps 1-<reach for the door handle>, 2-<grasp the door handle> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the door handle and open the door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_9.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_10.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_11.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3421/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <pick up a ketchup bottle from a table>. After completing 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10970/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing a bread loaf onto a green cloth>, what are the next five steps after completing 1-<reach for the bread loaf in the pan>, 2-<grasp the bread loaf>, 3-<lift the bread loaf from the pan>, 4-<move the bread loaf towards the green cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the bread loaf onto the green cloth>, 6-<release the bread loaf>, 7-<move away from the bread loaf and green cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_14.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_15.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_16.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_17.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_18.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_19.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19004/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <sliding a green cloth to the left on a surface> as the goal and the steps 1-<reach for the green cloth>, 2-<grasp the green cloth>, 3-<slide the green cloth to the left> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<release the green cloth>, 5-<move away from the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_14.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_15.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_16.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_17.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18666/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the pot>, 2-<grab the pot>, what's the next set of five steps to move closer to <moving a small metal pot to the front left corner of a table, positioning it below a purple cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the pot>, 4-<move the pot towards the purple cloth>, 5-<place the pot below the purple cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7119/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the mug>. What are the next five tasks to take toward the goal of <dragging a mug backwards on a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the mug>, 3-<drag the mug backwards>, 4-<release the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14003/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the item in the container>. What are the next five tasks to take toward the goal of <pick up an item from a container and place it in front of two other items>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up the item from the container>, 3-<move the item towards the two items>, 4-<place the item on the surface in front of the two items>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24079/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a star-shaped object into its corresponding slot>. After completing 1-<pick up the star-shaped object>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<insert the star into the star-shaped slot>, 3-<hold the star in place>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7885/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <picking up a croissant and placing it on a plate>. After completing 1-<reach for the croissant>, 2-<grasp the croissant>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the croissant>, 4-<move the croissant towards the plate>, 5-<place the croissant on the plate>, 6-<release the croissant>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_30/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<pick up the butter>, 2-<move the butter towards the board>, what's the next set of five steps to move closer to <placing a stick of butter onto a wooden cutting board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<place the butter on the board>, 4-<release the butter>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_1.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_2.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_3.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_4.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_5.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_6.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_7.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_8.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_9.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2394/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<move towards the double-square object>, 2-<pick up the double-square object>, 3-<position the double-square object over the matching slot>, what's the next set of five steps to move closer to <inserting a double-square object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<insert the double-square object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_14.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_20.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_21.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_22.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7208/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a mug forwards>, what are the next five steps after completing 1-<reach for the mug>, 2-<grasp the mug>, 3-<drag the mug forwards>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<release the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_12.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_17.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_18.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_19.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_20.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_21.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7223/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <drag a strainer across a table> as the goal and the steps 1-<reach for the strainer>, 2-<grasp the strainer>, 3-<lift the strainer> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<drag the strainer across the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_14.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_15.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16692/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <picking up a piece of steak>, what are the next five steps after completing 1-<move towards the steak>, 2-<grab the steak>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the steak>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_13.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_14.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_15.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_16.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_17.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_561/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the open cabinet door>, what's the next set of five steps to move closer to <closing a kitchen cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<reach for the cabinet door>, 3-<push the cabinet door to close it>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_0.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_1.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_2.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_3.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_4.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_5.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_6.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_7.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_8.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_556/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the bowl>, 2-<grasp the bowl>, 3-<lift the bowl>. What are the next five tasks to take toward the goal of <place a bowl onto a wooden board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the bowl towards the board>, 5-<place the bowl on the board>, 6-<release the bowl>, 7-<retract from the bowl and the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11707/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <opening a oven>. After completing 1-<reach for the oven>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<lift the oven lid>, 3-<hold the lid open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12400/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <moving a knife past a cloth>. After completing 1-<reach for the knife>, 2-<grasp the knife>, 3-<lift the knife>, 4-<move the knife right>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the knife down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_16.png", |
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| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_20.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_21.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_22.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_23.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_24.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10135/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the pan>, 2-<grab the pan>, 3-<lift the pan>. What are the next five tasks to take toward the goal of <placing a pan above a blue spoon>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the pan towards the blue spoon >, 5-<place the pan above the blue spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_9.png", |
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| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_17.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_18.png", |
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| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13740/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <inserting a star-shaped object into its corresponding slot>, what are the next five steps after completing 1-<move towards the star object>, 2-<grab the star object>, 3-<lift the star object>, 4-<move the star towards the matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<insert the star into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_14.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_15.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_16.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_17.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_18.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_19.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_21.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_22.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_23.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_24.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7786/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the red block>. What are the next five tasks to take toward the goal of <inserting a red block into a partially assembled structure>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the red block towards the structure>, 3-<insert the red block into the designated slot within the structure>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6255/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the banana>, 2-<grab the banana>, what's the next set of five steps to move closer to <pick up a banana and place it in a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the banana>, 4-<move the banana towards the bowl>, 5-<place the banana in the bowl>, 6-<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5526/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a strainer backwards>, what are the next five steps after completing 1-<reach for the strainer>, 2-<grab the strainer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<drag the strainer backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_10.png", |
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| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5866/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the cabinet door>, what's the next set of five steps to move closer to <opening a cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the handle of the cabinet door>, 3-<pull the cabinet door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_8.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_9.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1575/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the towel>, 2-<grab the towel>, 3-<move the towel closer to the bowl>, 4-<release the towel>, what's the next set of five steps to move closer to <moving a towel closer to a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<move away from the towel and the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_13.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_14.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_15.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_16.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_17.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_18.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10962/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <dragging a strainer across a table> as the goal and the steps 1-<reach for the strainer>, 2-<grab the strainer>, 3-<lift the strainer> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<drag the strainer from left to right>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_0.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_1.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_2.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_3.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_4.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_5.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_6.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_7.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_8.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_9.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_10.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_11.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_12.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_13.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17896/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <picking up a pen and placing it down>. After completing 1-<approach the pen>, 2-<grasp the pen>, 3-<lift the pen>, 4-<move the pen>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the pen down>, 6-<release the pen>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_9.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_10.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_11.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_12.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_13.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_14.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_15.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_16.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_17.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_18.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_19.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_20.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_21.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_22.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_23.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4147/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 6, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the cup>, 2-<grasp the cup>, 3-<lift the cup>, 4-<move the cup towards the drawer>, 5-<place the cup inside the drawer>, 6-<release the cup>, what's the next set of five steps to move closer to <placing a cup into a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "7-<retract from the drawer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_19.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_20.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_21.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_22.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_23.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_24.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_25.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16174/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the fork>, 2-<grab the fork>. What are the next five tasks to take toward the goal of <move the fork to the near left corner of the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the fork>, 4-<move the fork towards the left corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10419/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the hexagonal object>, 2-<pick up the hexagonal object>, 3-<move the hexagonal object towards its slot>, 4-<insert the hexagonal object into the slot>, what's the next set of five steps to move closer to <inserting a hexagonal object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release the hexagonal object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_22.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_23.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_24.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_25.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_26.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_27.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5953/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the star-shaped object>, 2-<pick up the star-shaped object>, 3-<move the star-shaped object towards the green board>, 4-<insert the star-shaped object into the star-shaped slot>, what's the next set of five steps to move closer to <inserting a star-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release the star-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_9.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_10.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_11.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_12.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_13.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_14.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_15.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_16.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_17.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_18.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_19.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_20.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_21.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_22.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_23.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8346/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <moving a brush next to a pepper>, what are the next five steps after completing 1-<reach for the brush>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the brush>, 3-<lift the brush>, 4-<move the brush towards the pepper>, 5-<place the brush next to the pepper>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23832/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nThe goal is <moving a container across a surface>. After completing 1-<reach for the container>, 2-<grasp the container>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the container>, 4-<move the container across the table>, 5-<place the container down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11110/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the spoon>, 2-<grasp the spoon>, 3-<lift the spoon>, what's the next set of five steps to move closer to <moving a spoon next to a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the spoon towards the pot>, 5-<place the spoon next to the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_10.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_11.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_12.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_13.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_14.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_15.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_16.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_17.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22680/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<lift the yellow cup>. What are the next five tasks to take toward the goal of <placing a yellow cup in a sink>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the yellow cup towards the sink>, 3-<place the yellow cup in the sink>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_825/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the spoon>, 2-<grab the spoon>, 3-<lift the spoon>. What are the next five tasks to take toward the goal of <place a spoon onto the middle of a stove>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the spoon towards the stove>, 5-<place the spoon on the stove>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_11.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_12.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_13.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_14.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_15.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_16.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_17.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_18.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_19.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15436/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<move towards the purple object>, 2-<pick up the purple object>, 3-<move towards the blue puzzle board>, 4-<insert the purple object into the designated slot on the puzzle board>. What are the next five tasks to take toward the goal of <inserting a purple object into a designated slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release the purple object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_16.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_17.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_18.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_19.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_20.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_21.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_22.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_23.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_24.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_25.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1982/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_604", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <place a spatula behind a cloth> as the goal and the steps 1-<reach for the spatula>, 2-<grasp the spatula> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the spatula>, 4-<move the spatula over the cloth>, 5-<place the spatula behind the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_8.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_9.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_10.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_11.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_12.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_13.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_604/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing a yellow cloth on the front right corner of the table>, what are the next five steps after completing 1-<reach for the yellow cloth>, 2-<grasp the yellow cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the yellow cloth>, 4-<move the yellow cloth towards the front right corner of the table>, 5-<place the yellow cloth on the front right corner of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_14.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_15.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20876/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<move towards the three-pronged object>, 2-<grasp the three-pronged object>. What are the next five tasks to take toward the goal of <inserting a three-pronged object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the three-pronged object>, 4-<move the three-pronged object towards the board>, 5-<insert the three-pronged object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6574/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<approach the chair>, 2-<grab the chair>. What are the next five tasks to take toward the goal of <pushing chairs under a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the chair>, 4-<move the chair towards the table>, 5-<place the chair under the table>, 6-<release the chair>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_8.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_183/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17867", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nThe goal is <moving a bowl to the lower left of a cooktop>. After completing 1-<pick up a small yellow spoon from the cooktop>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<lift the bowl from the countertop>, 3-<move the bowl over the lower left of the cooktop>, 4-<place the bowl onto the lower left of the cooktop>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17867/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17867/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17867/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17867/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17867/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the cucumber>, 2-<grasp the cucumber>. What are the next five tasks to take toward the goal of <placing a cucumber into a cup>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the cucumber>, 4-<move the cucumber towards the cup>, 5-<place the cucumber inside the cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10336/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the fork>, 2-<grab the fork>, 3-<lift the fork>. What are the next five tasks to take toward the goal of <move the fork to the bottom-right corner of the counter>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the fork towards the bottom-right corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_14.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_15.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7888/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a pot to the far left front corner of a table> as the goal and the steps 1-<approach the pot>, 2-<grab the pot>, 3-<lift the pot> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the pot towards the left front corner of the table>, 5-<place the pot on the left front corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14192/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the orange cloth>. What are the next five tasks to take toward the goal of <move the orange cloth in front of the cans>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the orange cloth>, 3-<lift the orange cloth>, 4-<move the orange cloth towards the cans>, 5-<place the orange cloth in front of the cans>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20556/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <retrieving a tea bag> as the goal and the steps 1-<move towards the tea bag container>, 2-<hover over the tea bag container> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pick up a tea bag from the container>, 4-<lift the tea bag>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_16.png", |
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| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_18.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_19.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_20.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_21.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10157/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <picking up a ketchup bottle from a table>. After completing 1-<reach for the ketchup bottle>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, 4-<move the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12979/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the cloth>, 2-<grab the cloth>. What are the next five tasks to take toward the goal of <moving a cloth to the left side of a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<drag the cloth to the left>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_5.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_6.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_7.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_8.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_9.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_10.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_11.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_12.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_13.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_82/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <pick up a ketchup bottle from a table>, what are the next five steps after completing 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16104/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the drawer>, what's the next set of five steps to move closer to <opening a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the drawer handle>, 3-<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1036/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the chair>, what's the next set of five steps to move closer to <pushing chairs under a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the chair>, 3-<lift the chair>, 4-<move the chair towards the table>, 5-<position the chair under the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_255/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the banana>, 2-<grasp the banana>, 3-<lift the banana>, 4-<move the banana towards the cloth>, 5-<place the banana on the cloth>, what's the next set of five steps to move closer to <placing a banana on a cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_14.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_15.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_16.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_17.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_18.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_19.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_20.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_21.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_22.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_23.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_24.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_25.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_26.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19357/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <transferring a banana from the table to a plate>, what are the next five steps after completing 1-<reach for the banana on the table>, 2-<grasp the banana>, 3-<lift the banana from the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the grasped banana towards the plate>, 5-<place the banana onto the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_16.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_17.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_18.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_19.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_20.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15618/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the banana on the plate>, 2-<grasp the banana>. What are the next five tasks to take toward the goal of <moving a banana from a plate to a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the banana from the plate>, 4-<move the banana towards the table>, 5-<place the banana on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4639/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a strainer backwards>, what are the next five steps after completing 1-<reach for the strainer>, 2-<grasp the strainer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<drag the strainer backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5875/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nThe goal is <dragging a mug backwards>. After completing 1-<reach for the mug>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the mug>, 3-<lift the mug>, 4-<drag the mug backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16581/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a banana from a plate to a table> as the goal and the steps 1-<reach for the banana on the plate> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the banana>, 3-<lift the banana from the plate>, 4-<move the banana towards the table>, 5-<place the banana on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5864/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <moving a banana from a plate to a table>. After completing 1-<reach for the banana on the plate>, 2-<grasp the banana>, 3-<lift the banana from the plate>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the banana towards the table>, 5-<place the banana on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_14.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_15.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_16.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_17.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_18.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4006/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a purple object into a designated slot>. After completing 1-<pick up the purple object>, 2-<move the purple object towards the designated slot>, 3-<insert the purple object into the slot>, 4-<release the purple object>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<move away from the purple object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_16.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_17.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_18.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_19.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_20.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_21.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_22.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_23.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_24.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_25.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_26.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1367/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <moving an object from one container to another>. After completing 1-<pick up the object from the first container>, 2-<move the object over the second container>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<place the object into the second container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_5.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_6.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_7.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_8.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_9.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_10.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_11.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_12.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_13.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_14.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_15.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_16.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_17.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_118/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <placing a box into a compartment> as the goal and the steps 1-<reach for the box>, 2-<grasp the box>, 3-<lift the box>, 4-<move the box towards the compartment> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the box into the compartment>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_17.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_18.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_19.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_20.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_21.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_22.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_23.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_24.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_202/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the green object>, 2-<pick up the green object>. What are the next five tasks to take toward the goal of <inserting a green object into a pink cross-shaped slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move towards the pink cross-shaped slot>, 4-<insert the green object into the slot>, 5-<release the green object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1764/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <picking up a carrot from a countertop>. After completing 1-<move towards the carrot>, 2-<grab the carrot>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the carrot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_14.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_15.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_16.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6972/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nWith <picking up a roll of tape> as the goal and the steps 1-<reach for the tape roll>, 2-<grasp the tape roll> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the tape roll>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1140/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_640", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<position over the bowl containing corn>. What are the next five tasks to take toward the goal of <retrieving corn from a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the corn from the bowl>, 3-<lift the corn upwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_640/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <picking up a red object>. After completing 1-<move towards the red object>, 2-<grab the red object>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_261/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<approach the light switch>. What are the next five tasks to take toward the goal of <switching a light switch>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<flip the light switch down>, 3-<retract from the light switch>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_8.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_9.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1224/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <inserting a purple object into a designated slot> as the goal and the steps 1-<pick up the purple object> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the purple object towards the slot>, 3-<insert the purple object into the slot>, 4-<release the purple object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1620/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<pick up the green oval object>, 2-<move the green oval object towards the board>, what's the next set of five steps to move closer to <inserting an oval object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<insert the oval object into the oval slot>, 4-<release the green oval object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_3.png", |
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| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_8.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_9.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_10.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_11.png", |
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| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_14.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_15.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_16.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_17.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5734/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <pick up a bottle of ketchup and place it on a plate> as the goal and the steps 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, 4-<move the ketchup bottle towards the plate> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the ketchup bottle on the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_19.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_20.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_21.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_22.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_23.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_24.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15978/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_62", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <moving an item from one bowl to another>. After completing 1-<reach for the tiger in the red bowl>, 2-<pick up the tiger from the red bowl>, 3-<move the tiger towards the grey bowl>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<place the tiger into the grey bowl>, 5-<retract from the grey bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_62/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_62/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_62/frame_13.png", |
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| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_62/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <placing a pan on a rag>. After completing 1-<reach for the pan>, 2-<grab the pan>, 3-<lift the pan>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the pan towards the rag>, 5-<place the pan on the rag>, 6-<release the pan>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5626/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the bottle>, 2-<grasp the bottle>, 3-<lift the bottle>. What are the next five tasks to take toward the goal of <pick up a bottle and place it on the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the bottle over the table>, 5-<place the bottle on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_13.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_14.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_15.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_16.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_17.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_18.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_19.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11637/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <picking up a ketchup bottle from a table and placing it on a oven>, what are the next five steps after completing 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, 4-<move the ketchup bottle towards the oven>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the ketchup bottle on top of the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7468/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <picking up a ketchup bottle from a table> as the goal and the steps 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8088/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<grab the drawer handle>, 2-<pull the drawer open>. What are the next five tasks to take toward the goal of <opening a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<keep the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_8.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_9.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_10.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_11.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_12.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_13.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_14.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4665/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a strainer across a table>, what are the next five steps after completing 1-<reach for the strainer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the strainer>, 3-<lift the strainer>, 4-<drag the strainer across the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4713/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing a spatula on a cutting board>, what are the next five steps after completing 1-<reach for the spatula>, 2-<grab the spatula>, 3-<lift the spatula>, 4-<move the spatula towards the cutting board>, 5-<place the spatula on the cutting board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the spatula>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_14.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_15.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_16.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_17.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_18.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_19.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_20.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_21.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_22.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_23.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_24.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_25.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_26.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_27.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1914/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <moving a cloth to the left side of a table>, what are the next five steps after completing 1-<pick up the cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<drag the cloth to the left>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_5.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_6.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_7.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_8.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_9.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_10.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_11.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_12.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_13.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_822/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<pick up the rectangular prism>, what's the next set of five steps to move closer to <inserting a rectangular prism into a matching cutout>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the prism towards the board with cutouts>, 3-<insert the prism into the rectangular cutout>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8480/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the item from a container>. What are the next five tasks to take toward the goal of <moving an item to the edge of a surface>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the item over the surface>, 3-<place the item at the edge of the surface>, 4-<release the item>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15559/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <inserting an arch-shaped object into its corresponding slot>, what are the next five steps after completing 1-<reach for the arch-shaped object>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up the arch-shaped object>, 3-<move the arch-shaped object towards the designated slot>, 4-<insert the arch-shaped object into the slot>, 5-<release the arch-shaped object>, 6-<retract from the inserted object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7361/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a double-square object into its matching slot>. After completing 1-<move towards the green board>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<insert the double-square shaped object into the matching slot>, 3-<hold the object in place>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_5.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_6.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_7.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_8.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_9.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5649/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <opening a filing cabinet drawer>. After completing 1-<reach for the handle of the drawer>, 2-<grasp the handle>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_0.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_1.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_2.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_3.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_4.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_5.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_6.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_7.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_8.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_9.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_23/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<move towards the pot>, 2-<pick up the pot>. What are the next five tasks to take toward the goal of <moving a pot onto a cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move the pot towards the green cloth>, 4-<place the pot on the green cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_10.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_11.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_12.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_13.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_14.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_15.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_25366/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the butter stick>. What are the next five tasks to take toward the goal of <placing a butter stick into a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the butter stick towards the bowl>, 3-<place the butter stick into the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_476/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the banana on the plate>. What are the next five tasks to take toward the goal of <moving a banana from a plate to the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the banana>, 3-<lift the banana from the plate>, 4-<move the banana towards the table>, 5-<place the banana on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1318/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the mug>, 2-<grasp the mug>, 3-<lift the mug slightly>, what's the next set of five steps to move closer to <dragging a mug backwards across a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<drag the mug backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15647/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3192", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nThe goal is <opening a door>. After completing 1-<approach the door>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the door handle>, 3-<pull the door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3192/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3192/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3192/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3192/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3192/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach towards the cloth>, 2-<grab the cloth>, what's the next set of five steps to move closer to <moving a cloth to the edge of a surface>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift and move the cloth to the edge of the surface>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_14.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16878/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <picking a banana from a table and placing it in a container> as the goal and the steps 1-<reach for the banana on the table>, 2-<grasp the banana>, 3-<lift the banana>, 4-<move the banana towards the container> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the banana inside the container>, 6-<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_19.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_20.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_21.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_22.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16221/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <place a spoon to the right of a napkin> as the goal and the steps 1-<reach for the spoon>, 2-<grasp the spoon> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the spoon>, 4-<move the spoon towards the napkin>, 5-<place the spoon to the right of the napkin>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_10.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9129/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <moving a banana from a plate to a table>, what are the next five steps after completing 1-<reach for the banana on the plate>, 2-<grasp the banana>, 3-<lift the banana from the plate>, 4-<move the banana towards the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the banana on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_25.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7923/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <picking up a bowl>, what are the next five steps after completing 1-<reach for the bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the bowl>, 3-<lift the bowl>, 4-<move the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7120/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <placing a bowl inside an oven>. After completing 1-<reach for the bowl>, 2-<grasp the bowl>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move towards the oven with the bowl >, 4-<place the bowl inside the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6267/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the drawer handle>. What are the next five tasks to take toward the goal of <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the drawer handle>, 3-<pull the drawer inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_2.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_3.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_6.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_7.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_8.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1931/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a hexagonal object into its corresponding slot>. After completing 1-<move above the hexagon object>, 2-<pick up the hexagon object>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move the hexagon above the hexagonal hole>, 4-<insert the hexagon into the hexagonal hole>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1184/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <move a bowl next to a knife>. After completing 1-<reach for the bowl>, 2-<grab the bowl>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the bowl>, 4-<move the bowl towards the knife>, 5-<place the bowl next to the knife>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18366/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <opening a cabinet door>, what are the next five steps after completing 1-<approach the cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the handle>, 3-<pull the handle to open the door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_10.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1761/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <place the banana in the pot>. After completing 1-<reach for the banana>, 2-<grab the banana>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the banana>, 4-<move the banana towards the pot>, 5-<place the banana inside the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10890/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nTo work toward <inserting a star-shaped object into its corresponding slot>, what are the next five steps after completing 1-<move towards the star-shaped object>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the star-shaped object>, 3-<lift the star-shaped object>, 4-<position the star-shaped object above the slot>, 5-<insert the star-shaped object into the star-shaped slot>, 6-<release the star-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4694/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing a bowl into an oven>, what are the next five steps after completing 1-<approach the bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the bowl>, 3-<move towards the oven with the bowl>, 4-<put the bowl inside the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_384/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the banana>, 2-<grasp the banana>, 3-<lift the banana>, 4-<move the banana towards the strainer>, 5-<place the banana in the strainer>, what's the next set of five steps to move closer to <pick up a banana and place it in a strainer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_13.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_14.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_15.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_16.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_17.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_18.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_19.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_20.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_21.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_22.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_23.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_24.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_25.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8290/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the star-shaped object>, 2-<pick up the star-shaped object>. What are the next five tasks to take toward the goal of <inserting a star-shaped object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move the star-shaped object towards the matching slot>, 4-<insert the star-shaped object into the slot>, 5-<release the star-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_14.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7496/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <pick up a pot and place it into a cardboard box> as the goal and the steps 1-<reach for the pot>, 2-<grasp the pot>, 3-<lift the pot>, 4-<move the pot towards the cardboard box>, 5-<place the pot into the cardboard box> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_14.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_15.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_16.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_17.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_18.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_19.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_20.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_21.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_22.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_23.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_24.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_25.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_26.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_27.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20747/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <opening a drawer>. After completing 1-<approach the drawer>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the handle of the drawer>, 3-<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_8.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_9.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_10.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_11.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_12.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4823/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the mushroom>, 2-<lift the mushroom>, 3-<move the mushroom over the yellow cloth>, 4-<place the mushroom on the yellow cloth>, 5-<grab the edge of the yellow cloth>. What are the next five tasks to take toward the goal of <place a cloth behind a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<drag the yellow cloth behind the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_14.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_15.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_16.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_17.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_18.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_19.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_20.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_21.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_22.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_23.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_24.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_25.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6656/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<approach the open drawer>. What are the next five tasks to take toward the goal of <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<push the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_14.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_15.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13248/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing a cup into a drawer>, what are the next five steps after completing 1-<reach for the cup>, 2-<grasp the cup>, 3-<lift the cup>, 4-<move the cup towards the drawer>, 5-<place the cup inside the drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_14.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_15.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_16.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_17.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_18.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_19.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_20.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_21.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_22.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_23.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_24.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_25.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_26.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4113/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <reposition a vegetable next to another vegetable> as the goal and the steps 1-<reach for the blue vegetable> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the blue vegetable>, 3-<lift the blue vegetable>, 4-<move the blue vegetable towards the target location>, 5-<place the blue vegetable next to the vegetable on the purple towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17644/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the cylinder>, 2-<move the cylinder towards the target hole>. What are the next five tasks to take toward the goal of <inserting a cylindrical object into a matching hole>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<insert the cylinder into the hole>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_14.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_15.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_16.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_17.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_18.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_19.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4443/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the corn>, 2-<grasp the corn>, 3-<lift the corn>, 4-<move the corn towards the bowl>, 5-<place the corn in the bowl>. What are the next five tasks to take toward the goal of <placing corn into a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the corn>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_10.png", |
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| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_13.png", |
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| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_23.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_24.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_25.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_26.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8138/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <closing a drawer> as the goal and the steps 1-<reach for the drawer> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<push the drawer inward>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6532/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_615", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach towards the blue cup>, 2-<grasp the blue cup>. What are the next five tasks to take toward the goal of <placing a small cup into a larger cup>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the blue cup>, 4-<move the blue cup towards the brown cup>, 5-<place the blue cup into the brown cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_615/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_615/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_615/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_615/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4176", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the cabinet door>, 2-<grab the handle>, what's the next set of five steps to move closer to <opening a cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the cabinet door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4176/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4176/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4176/frame_13.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4176/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <opening a refrigerator>, what are the next five steps after completing 1-<reach for the refrigerator handle>, 2-<grasp the handle>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull open the refrigerator door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13416/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<pick up the lid>, what's the next set of five steps to move closer to <placing a lid on a board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the lid towards the board>, 3-<place the lid on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5323/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the square-circle object>. What are the next five tasks to take toward the goal of <inserting a square-circle object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<insert the object into the matching slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2591/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<move towards the toaster>, what's the next set of five steps to move closer to <turning on a toaster>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<push down the lever on the toaster>, 3-<keep the lever down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13713/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <turning on a toaster>. After completing 1-<move towards the toaster>, 2-<press the lever down to turn on the toaster>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<hold the lever down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_17.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_18.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_19.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_20.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6134/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <pick up a spoon and hold it above a slice of apple>. After completing 1-<reach for the spoon>, 2-<grab the spoon>, 3-<lift the spoon>, 4-<move the spoon towards the apple slice>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<hold the spoon above the apple slice>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_8.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_9.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_10.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_11.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_12.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_13.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_14.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_15.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5992/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a croissant to the lower right corner of a surface near a spoon> as the goal and the steps 1-<pick up the croissant> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the croissant towards the lower right corner near the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17503/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the oven door handle>, 2-<grasp the oven door handle>, 3-<pull the oven door closed>, what's the next set of five steps to move closer to <closing an oven door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<release the oven door handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_17.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_18.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_19.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_20.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_21.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_22.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_23.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_24.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10237/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<move towards the strawberry>, 2-<grab the strawberry>. What are the next five tasks to take toward the goal of <placing a strawberry into a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the strawberry>, 4-<move towards the bowl>, 5-<place the strawberry in the bowl>, 6-<release the strawberry>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_8.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_9.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_10.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_11.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_12.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_13.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6192/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the banana>, 2-<grasp the banana>, 3-<lift the banana>, what's the next set of five steps to move closer to <moving a banana to a towel>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the banana towards the towel>, 5-<place the banana on the towel>, 6-<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_14.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_15.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24426/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <placing a chicken leg piece into a silver vessel>, what are the next five steps after completing 1-<move towards the chicken leg piece>, 2-<pick up the chicken leg piece>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<move towards the silver vessel>, 4-<place the chicken leg piece in the silver vessel>, 5-<retract from the silver vessel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18167/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the spatula>, 2-<grasp the spatula>, 3-<lift the spatula>, what's the next set of five steps to move closer to <placing a spatula underneath a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the spatula towards the pot>, 5-<place the spatula underneath the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13900/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_725", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<reach for the mushroom in the pot>, 2-<grab the mushroom>, 3-<lift the mushroom from the pot>, 4-<move the mushroom towards the microwave>, what's the next set of five steps to move closer to <placing a mushroom in front of a microwave>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the mushroom in front of the microwave>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_14.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_15.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_16.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_17.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_18.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_19.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_20.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_21.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_22.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_23.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_24.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_725/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the purple object>, 2-<pick up the purple object>, 3-<move towards the blue board with the purple object>. What are the next five tasks to take toward the goal of <inserting a purple object into a designated slot within a blue puzzle board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<insert the purple object into the slot>, 5-<release the purple object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_16.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_17.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1732/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <dragging a mug backwards on a table>, what are the next five steps after completing 1-<reach for the mug>, 2-<grasp the mug>, 3-<drag the mug backwards>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<drag the mug further backwards>, 5-<continue dragging the mug backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_1.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_2.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_3.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_4.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_5.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_6.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_7.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_8.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_9.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_10.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_11.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_12.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_13.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_14.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_15.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2296/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <picking up a wooden spoon>, what are the next five steps after completing 1-<reach for the wooden spoon>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the wooden spoon>, 3-<lift the wooden spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10739/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <placing one cup into another>. After completing 1-<reach for the blue cup>, 2-<grab the blue cup>, 3-<lift the blue cup>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the blue cup towards the brown cup>, 5-<place the blue cup into the brown cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_5.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_6.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_7.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_8.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_9.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_10.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_11.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_12.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_13.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_14.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_15.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_16.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_17.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_18.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_329/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <repositioning a pepper next to a pan>, what are the next five steps after completing 1-<reach for the pepper>, 2-<grasp the pepper>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<lift the pepper>, 4-<move the pepper to the right of the pan>, 5-<place the pepper on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15919/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <closing a drawer> as the goal and the steps 1-<reach for the drawer handle>, 2-<grab the drawer handle> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_8.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1308/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <inserting a three-pronged object into its matching slot>. After completing 1-<reach for the three-pronged object>, 2-<grasp the three-pronged object>, 3-<lift the three-pronged object>, 4-<move the three-pronged object towards the matching slot>, 5-<insert the three-pronged object into the slot>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "6-<release the three-pronged object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_12.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_13.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_14.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_15.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_16.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_17.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_18.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_19.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_20.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_21.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_22.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_23.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_24.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_25.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3219/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<pick up the yellow cup>, 2-<move the yellow cup towards the dish rack>, 3-<place the yellow cup inside the dish rack>. What are the next five tasks to take toward the goal of <place the yellow cup into the dish rack>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<release the yellow cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_16.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_17.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_18.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_19.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_20.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_21.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_970/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <inserting an arch-shaped object into its designated slot>, what are the next five steps after completing 1-<reach for the arch-shaped object>, 2-<pick up the arch-shaped object>, 3-<move the arch-shaped object towards its slot>, 4-<insert the arch-shaped object into the slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<release the arch-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_22.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_23.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_24.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_25.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6241/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the green cup>. What are the next five tasks to take toward the goal of <picking up a green cup>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the green cup>, 3-<lift the green cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_736/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<move towards the hexagon>. What are the next five tasks to take toward the goal of <inserting a hexagon into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up the hexagon>, 3-<move the hexagon towards the matching slot>, 4-<insert the hexagon into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7030/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <opening a drawer>, what are the next five steps after completing 1-<reach for the drawer handle>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the drawer handle>, 3-<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3319/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <grasping a handle on a cardboard box>, what are the next five steps after completing 1-<approach the cardboard box>, 2-<reach for the handle of the box>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<grasp the handle>, 4-<lift the box slightly using the handle >" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_10.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_11.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_12.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_13.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_14.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_15.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_16.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_17.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_18.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_19.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_255/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <picking up a banana and placing it into a strainer>. After completing 1-<reach for the banana>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the banana>, 3-<move towards the strainer>, 4-<position the banana over the strainer>, 5-<release the banana into the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11773/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <stacking a red cube onto a green cube>, what are the next five steps after completing 1-<pick up the red cube>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the red cube towards the green cube >, 3-<place the red cube on top of the green cube>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_308/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<approach the cabinet door>, what's the next set of five steps to move closer to <opening a cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the handle of the cabinet door>, 3-<pull the cabinet door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_106/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the cloth>. What are the next five tasks to take toward the goal of <placing a cloth on the bottom-right corner of a counter>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grab the cloth>, 3-<move the cloth towards the bottom-right corner of the counter>, 4-<place the cloth on the bottom-right corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_13.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1150/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the broccoli>. What are the next five tasks to take toward the goal of <placing broccoli on the stove>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<grasp the broccoli>, 3-<lift and move the broccoli>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3094/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the drawer handle>, 2-<grab the handle>. What are the next five tasks to take toward the goal of <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pull the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_369/frame_5.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4190", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the rectangular object>, 2-<pick up the rectangular object>, 3-<move the rectangular object towards the matching slot>. What are the next five tasks to take toward the goal of <inserting a rectangular object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<insert the rectangular object into the slot>, 5-<release the rectangular object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4190/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4190/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4190/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4613", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, 4-<move the ketchup bottle towards the oven>. What are the next five tasks to take toward the goal of <moving a ketchup bottle from a table to a oven>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the ketchup bottle on the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4613/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4613/frame_1.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/49_bridge#episode_979", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<reach for the purple cloth>, 2-<grasp the purple cloth>, 3-<lift and move the purple cloth towards the bottom middle edge of the table>. What are the next five tasks to take toward the goal of <moving a purple cloth to the bottom middle edge of a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<place the purple cloth at the bottom middle edge of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_979/frame_0.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_979/frame_1.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_17", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the progress so far: 1-<hover over the grid clamp>, what's the next set of five steps to move closer to <placing a grid clamp>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up the grid clamp>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_17/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_17/frame_1.png", |
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| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <dragging a mug forward on a table>. After completing 1-<reach for the mug>, 2-<grasp the mug>, 3-<drag the mug forward>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<release the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_10.png", |
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| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_13.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_14.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_15.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_16.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_17.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_18.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_19.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3708/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<lift the apple>. What are the next five tasks to take toward the goal of <placing an apple on the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<move the apple towards the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_13.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_121/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <moving a ketchup bottle from a plate to the table> as the goal and the steps 1-<reach for the ketchup bottle on the plate>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle from the plate>, 4-<move the ketchup bottle towards the table> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "5-<place the ketchup bottle on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_15.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_16.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_17.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_18.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_19.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_20.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_21.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_22.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_23.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5123/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <placing a bowl on a board> as the goal and the steps 1-<reach for the bowl>, 2-<grab the bowl>, 3-<lift the bowl> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "4-<move the bowl over the board>, 5-<lower the bowl onto the board >, 6-<release the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15362/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo work toward <retrieving a tea bag>, what are the next five steps after completing 1-<move towards the tea bag container>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<pick up a tea bag from the container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12164/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe goal is <retrieving a tea bag>. After completing 1-<move towards the tea bag container>, 2-<hover over the tea bag container>, what are the next five steps you should take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<pick up a tea bag>, 4-<lift the tea bag>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_13.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_14.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1172/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith <closing a wooden box> as the goal and the steps 1-<reach for the open lid of the box>, 2-<grasp the lid of the box> completed, what are the next five things to do?" |
| }, |
| { |
| "from": "gpt", |
| "value": "3-<close the lid of the box>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_17.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5662/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252", |
| "task": "Planning_Remaining_Steps_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nHere's what's been done so far: 1-<approach the light switch>. What are the next five tasks to take toward the goal of <switching a light switch>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "2-<flip the light switch>, 3-<retract from the light switch>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_8.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_9.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_10.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_11.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_12.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_13.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1252/frame_14.png" |
| ] |
| } |
| ] |
