| [ |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <placing a sushi roll into a pot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the sushi towards the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_11.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_12.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_13.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13137/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <pick up a ketchup bottle and place it into a bowl>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_14.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <inserting a star-shaped object into its corresponding slot>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the star-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3080/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_180", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <placing a spoon next to a metal vessel>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_180/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_180/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_180/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_180/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_180/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_180/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <dragging a strainer across a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the strainer from right to left>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_8.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_9.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_10.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_340/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544", |
| "task": "Planning_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>\nTo reach the goal of <inserting a rectangular prism into a matching slot on a blue block>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the rectangular prism towards the blue block>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_12.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_13.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_14.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_15.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_16.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3544/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505", |
| "task": "Planning_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 goal of <picking a banana and placing it in a strainer>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_0.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_1.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_2.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_3.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_4.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_5.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_6.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_7.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_8.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_9.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_10.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_11.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_12.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_13.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17505/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <place a bowl on a board>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the bowl on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17036/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <placing a chicken leg into a metal pan>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the chicken leg into the pan>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4631/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972", |
| "task": "Planning_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>\nWith the aim of <place the cloth behind the pot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_10.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_11.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_12.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_13.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_14.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_15.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_16.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2972/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730", |
| "task": "Planning_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>\nGiven the goal of <pick up a banana and place it in a mug>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_17.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_18.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_19.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_20.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_21.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_22.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_23.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_24.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_25.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_26.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_27.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6730/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125", |
| "task": "Planning_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>\nThe objective is <retrieving broccoli from a pan>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the broccoli out of the pan>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_14.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_15.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_16.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_17.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_18.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_19.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17125/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <opening a microwave door>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the handle to open the door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4514/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <closing a drawer>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the drawer handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_8.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4873/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515", |
| "task": "Planning_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>\nIn pursuit of achieving <picking up an orange>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the orange>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_13.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_14.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_15.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_16.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_515/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <placing a loaf of bread into a bowl>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the loaf of bread towards the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_726/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043", |
| "task": "Planning_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 the aim of <picking up a ketchup bottle and placing it on the table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16043/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <place a highlighter on top of each book>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the highlighter on the first book>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_41/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820", |
| "task": "Planning_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>\nIn pursuit of achieving <retrieving a tea bag from a container>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<hover over the tea bag container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6820/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451", |
| "task": "Planning_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>\nIn pursuit of achieving <transferring food from a pot to a counter>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the food towards the counter>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_14.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_15.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_16.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_17.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_18.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_19.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19451/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <closing a microwave door>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the microwave door handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_14.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4996/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <inserting a brown object into a green u-shaped object>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the brown object towards the green u-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3892/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_358", |
| "task": "Planning_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>\nIn pursuit of achieving <place a spoon diagonally above a can>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_10.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_11.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_12.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_13.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_14.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_15.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_16.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_17.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_18.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_19.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_358/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <move the spatula in front of the blue napkin>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the spatula>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16436/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661", |
| "task": "Planning_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>\nThe objective is <place a red ball into a bowl>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<position the red ball over the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_16.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_17.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10661/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534", |
| "task": "Planning_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>\nIn pursuit of achieving <slide a pot to the right edge of the table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the pot towards the right edge of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_11.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_12.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_13.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_14.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_15.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_16.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_17.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15534/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24699", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image>\nWith the aim of <pouring almonds into a bowl>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the jar of almonds>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24699/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24699/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24699/frame_2.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525", |
| "task": "Planning_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>\nIn pursuit of achieving <moving a brush onto a towel>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the brush on the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_11.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_12.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_13.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_14.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_15.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_16.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_17.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_18.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_19.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_20.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_21.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_22.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_23.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1525/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719", |
| "task": "Planning_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>\nTo reach the goal of <closing a drawer>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer to close it>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5719/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230", |
| "task": "Planning_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 objective is <pick up a banana and place it in a container>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6230/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <pick up a bowl from a plate>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4053/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <picking up a ketchup bottle>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8582/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <inserting a three-pronged object into its matching slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the three-pronged object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4557/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <moving a mug from left to right on a table>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15012/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <closing a cabinet door>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_2.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_3.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_6.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_7.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_8.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_9.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_10.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_11.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_12.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_13.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2386/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433", |
| "task": "Planning_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>\nIn pursuit of achieving <dragging a mug backward on a table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_16.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_17.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_18.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_19.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15433/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511", |
| "task": "Planning_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 objective is <inserting an oval object into its matching slot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the oval object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_22.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6511/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339", |
| "task": "Planning_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>\nGiven the goal of <making tea>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the tea bag in the cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10339/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290", |
| "task": "Planning_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 objective is <moving a pot to the front left corner of a table>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_10.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_12.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_13.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_14.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_15.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9290/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <inserting an oval object into its corresponding slot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the oval object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_14.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7603/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283", |
| "task": "Planning_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 reach the goal of <placing a fork on a napkin>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the fork>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_14.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_15.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20283/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071", |
| "task": "Planning_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>\nIn pursuit of achieving <moving a small metal pan from a cloth to a position next to a blue spoon>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the pan towards the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_11.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_12.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_13.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_14.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_15.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_16.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13071/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <opening a cabinet door>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the handle to open the cabinet door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_13.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_14.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_17/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <pick up a red cup and place it on a different surface>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_9.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_10.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3651/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <inserting a blue object into a designated slot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the blue object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3155/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <placing a cup into a drawer>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the cup over the drawer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_14.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14612/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649", |
| "task": "Planning_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 goal of <closing a cabinet door>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the door closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_9.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_10.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_11.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_12.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_13.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_14.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_15.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3649/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <inserting a star-shaped object into its corresponding slot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the star into the star-shaped slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3019/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993", |
| "task": "Planning_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 the aim of <closing a kitchen cabinet door>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<ensure the cabinet door is fully closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_10.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_11.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_12.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_13.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_14.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_15.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_16.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_17.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2993/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <drag a strainer forward>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_605/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <closing a microwave door>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<close the microwave door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4358/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <drag a mug forward>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the mug forward>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_8.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_9.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_10.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3051/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736", |
| "task": "Planning_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>\nIn pursuit of achieving <inserting a blue cuboid into a designated slot in a purple base>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the blue cuboid towards the purple base>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2736/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <picking up a ketchup bottle from a table>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7543/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353", |
| "task": "Planning_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>\nIn pursuit of achieving <move a fork onto a green cloth>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the fork>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_14.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_15.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_16.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_17.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_18.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_19.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_20.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_21.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_22.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_23.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_24.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_25.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20353/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <opening a file cabinet drawer>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_0.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_1.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_2.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_3.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_4.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_5.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_6.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_7.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_8.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_9.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_10.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_11.png", |
| "rt_frames_success/rtx_frames_success_18/6_utokyo_pr2_opening_fridge_converted_externally_to_rlds#episode_38/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <retrieving a carrot from a container within a cardboard fence>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the carrot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4735/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_360", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <moving a pot onto a green cloth>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_360/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <moving a ketchup bottle from a plate to a table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5416/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <moving a pot next to two cans>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_2072/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995", |
| "task": "Planning_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 goal of <inserting a round object into its corresponding slot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the round object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_1995/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298", |
| "task": "Planning_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>\nThe objective is <placing a spoon under a pot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_13.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_14.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_15.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_16.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_17.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_18.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_19.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_20.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_21.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_22.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_23.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_24.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_25.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11298/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242", |
| "task": "Planning_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>\nGiven the goal of <moving a banana from a plate to a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_17.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_18.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10242/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <switching a button on a washing machine>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<press the power button>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_0.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_1.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_2.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_3.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_4.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_5.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_6.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_802/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <dragging a strainer across a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the strainer across the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_14.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14578/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <inserting a double-square object into its matching slot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the double-square object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6211/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698", |
| "task": "Planning_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> <image> <image> <image> <image>\nTo reach the goal of <picking up a towel>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_14.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_15.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_16.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_17.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_18.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_19.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_20.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_21.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14698/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <turning on a toaster>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push down the lever on the toaster>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_10.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_11.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_12.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_13.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9801/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762", |
| "task": "Planning_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 reach the goal of <picking up a stick of butter>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the butter>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15762/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369", |
| "task": "Planning_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>\nThe objective is <placing a cup into a drawer>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_25.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7369/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nWith the aim of <moving a brush to the bottom right corner of the table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the brush>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21034/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326", |
| "task": "Planning_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 goal of <picking a banana from a plate and placing it on the table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the banana from the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1326/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773", |
| "task": "Planning_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>\nGiven the goal of <turning on a toaster>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<keep the lever down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_17.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_18.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_19.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6773/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124", |
| "task": "Planning_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 objective is <inserting an oval object into its corresponding slot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the oval object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1124/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <inserting a star-shaped object into its corresponding slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the star-shaped object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_9.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_10.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_11.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_12.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_13.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8580/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <inserting a cylinder into its designated slot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the blue cylinder>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_12.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_13.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2994/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340", |
| "task": "Planning_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>\nIn pursuit of achieving <moving a ketchup bottle from a oven to the table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle towards the center of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_13.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_14.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_15.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_16.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_17.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11340/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98", |
| "task": "Planning_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>\nIn pursuit of achieving <placing a clear plastic cup on the table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the clear plastic cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_0.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_1.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_2.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_3.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_4.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_5.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_6.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_10.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_11.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_12.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_13.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_14.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_15.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_16.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_17.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_18.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_19.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_20.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_21.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_22.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_23.png", |
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| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_26.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_27.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_98/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <opening a oven>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the lid open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16636/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091", |
| "task": "Planning_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 the aim of <inserting a cylinder into a matching hole on a shape-sorter>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the cylinder into the matching hole>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_14.png", |
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| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_16.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_17.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_18.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_19.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_20.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_21.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_22.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7091/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <placing a piece of sushi onto a plate>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10652/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115", |
| "task": "Planning_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>\nIn pursuit of achieving <inserting a double-square object into its matching slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the double-square object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_12.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_13.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_14.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_15.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_16.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_17.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_18.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_19.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_20.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_21.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_22.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3115/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <taking a carrot off a plate>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the carrot on the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20386/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <opening a drawer>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the drawer handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1021/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580", |
| "task": "Planning_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>\nGiven the goal of <moving a vessel onto a towel>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the vessel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_10.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_11.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_12.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_13.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_14.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_15.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_16.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_17.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_18.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_19.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_20.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_21.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_22.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_23.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_24.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_25.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_26.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_27.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22580/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063", |
| "task": "Planning_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>\nIn pursuit of achieving <dragging a mug forward on a table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the mug forward>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_14.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_15.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17063/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <dragging a strainer backwards>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the strainer backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12236/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <placing corn into a pan>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the corn>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_8.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_9.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_10.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_11.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_12.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_13.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5634/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <placing a banana into a mug>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_13.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11416/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <scooping fake blueberries into a pot>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<scoop the blueberries>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_11.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_12.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_13.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12781/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903", |
| "task": "Planning_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 the aim of <inserting a double-square object into its matching slot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_16.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1903/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473", |
| "task": "Planning_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 objective is <placing a pot on a blue cloth>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_14.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_15.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_16.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_17.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_18.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_19.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_20.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_21.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_22.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_23.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_24.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_25.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_26.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21473/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <inserting a three-pronged object into its matching slot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the three-pronged object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8085/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805", |
| "task": "Planning_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 goal of <inserting an oval object into its corresponding slot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the green oval object towards the oval slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6805/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321", |
| "task": "Planning_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>\nGiven the goal of <positioning a scoop underneath a pot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the scoop below the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_10.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_11.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_12.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_13.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_14.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_15.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_16.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_17.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_18.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_19.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_20.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22321/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <placing a lid on a board>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the lid on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3318/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191", |
| "task": "Planning_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 the aim of <placing one cup into another>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the blue cup inside the brown cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_5.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_6.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_7.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_8.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_9.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_10.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_11.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_12.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_13.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_14.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_15.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_16.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_17.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_18.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_19.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_191/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <placing a bowl into an oven>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17370/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578", |
| "task": "Planning_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 reach the goal of <transferring a banana to a plate>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_14.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_15.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4578/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <inserting a blue object into a designated slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the blue object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3820/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751", |
| "task": "Planning_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>\nIn pursuit of achieving <picking a banana and placing it in a strainer>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_1.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_2.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_3.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_4.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_5.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_6.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_7.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_8.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_9.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_10.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_11.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_12.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_13.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_14.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_15.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_16.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_17.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_18.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_19.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_20.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_21.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_22.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_23.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_24.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2751/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704", |
| "task": "Planning_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>\nIn pursuit of achieving <inserting a rectangular prism into its matching slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the rectangular prism towards the matching slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6704/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413", |
| "task": "Planning_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>\nWith the aim of <relocating a ketchup bottle from a table to a microwave>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle towards the microwave>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_8.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_9.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_13.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_14.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_15.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_16.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_17.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_18.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_19.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8413/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <moving a blue spoon slightly to the right>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the blue spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3128/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237", |
| "task": "Planning_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 reach the goal of <dragging a strainer across a table>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_14.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_15.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_16.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_17.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_18.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_19.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_20.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_21.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_22.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_23.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_24.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_25.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_26.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_27.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12237/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433", |
| "task": "Planning_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 reach the goal of <pick up a banana and place it in a strainer>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the banana in the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_16.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_17.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_18.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_19.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_20.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_21.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_22.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_23.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_24.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10433/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005", |
| "task": "Planning_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>\nGiven the goal of <inserting a double-square object into its matching slot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_12.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_13.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_14.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_15.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_16.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_17.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_18.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_19.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_20.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_21.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_22.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3005/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11593", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nThe objective is <moving a vessel next to a towel>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the vessel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11593/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11593/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11593/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11593/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11593/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725", |
| "task": "Planning_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>\nWith the aim of <moving a banana from a plate to a table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the banana on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_13.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_14.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_15.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_16.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_17.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_18.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_19.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_20.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_21.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11725/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031", |
| "task": "Planning_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>\nIn pursuit of achieving <closing a drawer>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_1.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_2.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_3.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_4.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_5.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_6.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_7.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_8.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_9.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_10.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_11.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_12.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_13.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_14.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_15.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_16.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_17.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2031/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816", |
| "task": "Planning_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 the aim of <opening a drawer>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15816/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23", |
| "task": "Planning_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 goal of <placing a grid clamp onto a designated location>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<descend towards the grid clamp>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_23/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941", |
| "task": "Planning_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>\nGiven the goal of <opening a drawer>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_14.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_15.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16941/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <place the pot onto the yellow towel>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12535/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546", |
| "task": "Planning_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> <image> <image>\nGiven the goal of <retrieve a tea bag>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab a tea bag from the container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_19.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16546/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <opening a cabinet door>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the handle of the cabinet door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/25_nyu_door_opening_surprising_effectiveness#episode_108/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270", |
| "task": "Planning_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 reach the goal of <repositioning a utensil on a table>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the green spatula on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_17.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_18.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_19.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_20.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_21.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_22.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_23.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_24.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14270/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824", |
| "task": "Planning_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>\nIn pursuit of achieving <picking up a red object>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_15.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_16.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_824/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nWith the aim of <placing a piece of fruit on a towel>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the fruit>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1675/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259", |
| "task": "Planning_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>\nTo reach the goal of <inserting a hexagonal prism into its corresponding slot on a shape-sorter>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<align the hexagonal prism with the hexagonal slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_5.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_6.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_7.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_8.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_9.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_10.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_11.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_12.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_14.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_15.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_16.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_17.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_18.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_19.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_20.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_21.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5259/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923", |
| "task": "Planning_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>\nGiven the goal of <pick up a banana and place it in a strainer>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the banana in the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_16.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10923/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661", |
| "task": "Planning_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>\nThe objective is <taking clothes out of a laundry machine>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<go back to the laundry machine to retrieve another item>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_14.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_15.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_16.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_17.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_18.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_19.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_20.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17661/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <closing a container lid>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the container lid>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4867/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <inserting a star-shaped object into its matching slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<position the star object over the star-shaped slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3560/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nThe objective is <move a spoon next to a towel>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4591/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941", |
| "task": "Planning_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>\nGiven the goal of <pick up a bottle of ketchup from the table and place it on an oven>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle towards the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_16.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_17.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_18.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_19.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_20.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10941/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <moving a pan to a specific location on a counter>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the pan>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17370/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <cooking an egg on the stove>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the egg>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21337/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822", |
| "task": "Planning_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 reach the goal of <moving a spatula to the far bottom right corner of a table>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the spatula down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_11.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_12.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_13.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_14.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_15.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_16.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_17.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_18.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_19.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_20.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_21.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_22.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_23.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_24.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15822/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <moving a banana from one location on a table to another>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_802/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522", |
| "task": "Planning_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>\nWith the aim of <pick up a banana and place it in a mug>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_14.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_15.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_16.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_17.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_18.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_19.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_522/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <picking up a red object from a table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_540/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813", |
| "task": "Planning_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 the aim of <closing a drawer>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the drawer handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_14.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_15.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3813/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926", |
| "task": "Planning_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 objective is <placing a cup into a drawer>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_8.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_9.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_10.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_11.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_12.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_13.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_14.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_15.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_16.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_17.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_18.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_19.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_20.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_21.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2926/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <inserting an arch-shaped object into its corresponding slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the arch-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6919/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <opening a cabinet door>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_309/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352", |
| "task": "Planning_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>\nWith the aim of <retrieving an item from a container and relocating it to a surface>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the item on the surface>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_19.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_20.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_21.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_22.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_23.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_24.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_25.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16352/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33", |
| "task": "Planning_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>\nTo reach the goal of <placing a loop onto a peg>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the loop towards the peg>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_17.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_18.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_33/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <moving a cloth to the left side of a surface>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<slide the cloth to the left>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24867/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409", |
| "task": "Planning_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>\nIn pursuit of achieving <picking up a milk carton>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the milk carton>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_13.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_14.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_15.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_16.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_17.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_18.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_409/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744", |
| "task": "Planning_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 objective is <turning on a toaster>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<retract from the toaster>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_17.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_18.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_19.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_20.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5744/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <picking up a ketchup bottle from a table and placing it on another spot on the same table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4137/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_165", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <moving a knife to the back of a surface>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the knife>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_165/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302", |
| "task": "Planning_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>\nGiven the goal of <picking up a red object from a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_15.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_16.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_17.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_18.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_19.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_302/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513", |
| "task": "Planning_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 objective is <dragging a mug from right to left>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the mug down>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_16.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_17.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_18.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_19.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_20.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_21.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_22.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_23.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_24.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10513/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <picking up a red block>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red block>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_264/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <move a spatula from the right edge to the top left edge of a table>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the spatula to the top left edge of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_14.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24734/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <picking up a red object from a table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_682/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <drag a strainer backwards>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15757/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <closing a drawer>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14832/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776", |
| "task": "Planning_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> <image> <image> <image>\nGiven the goal of <turning on a toaster>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<hold the lever>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_776/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <moving a ketchup bottle from a oven to a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4490/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934", |
| "task": "Planning_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <place a bowl onto a board>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_10.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_11.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_12.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_13.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_14.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_934/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899", |
| "task": "Planning_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>\nIn pursuit of achieving <opening a oven>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<hold the lid open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_0.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_1.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_2.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_3.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_4.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_5.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_6.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_7.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_8.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_9.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_10.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_11.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_12.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_13.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_14.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_15.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_16.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_17.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_18.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_19.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1899/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678", |
| "task": "Planning_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 objective is <picking up a stick of butter>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift and hold the butter>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5678/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <placing a box into a compartment>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the box>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_46/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659", |
| "task": "Planning_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>\nWith the aim of <placing a red pepper into a pot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the red pepper>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_14.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_15.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_16.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_17.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19659/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643", |
| "task": "Planning_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>\nTo reach the goal of <placing a stick of butter onto a wooden board>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the butter on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_17.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_18.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_19.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_20.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_21.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_22.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_23.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5643/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <opening a drawer>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the drawer handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_7.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_8.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_9.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_10.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_14.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4486/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <closing a cabinet door>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<open the cabinet door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2786/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328", |
| "task": "Planning_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 objective is <inserting a double square object into its matching slot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the double square object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6328/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073", |
| "task": "Planning_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 the aim of <retrieving a slice of toast from a toaster>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<retrieve the toast>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_14.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_15.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_16.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_17.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_18.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_19.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13073/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <dragging a strainer across a table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13661/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026", |
| "task": "Planning_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>\nThe objective is <placing butter onto a wooden board>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the butter towards the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_14.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_15.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_16.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_17.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_18.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_19.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_20.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_21.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_22.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_23.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_24.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5026/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <dragging a strainer across a table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17086/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275", |
| "task": "Planning_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>\nIn pursuit of achieving <pick up a bottle and place it in a bowl>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the bottle towards the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_14.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_15.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_16.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_17.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5275/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250", |
| "task": "Planning_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>\nIn pursuit of achieving <placing a vegetable into a pot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the vegetable towards the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_14.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_15.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18250/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545", |
| "task": "Planning_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>\nIn pursuit of achieving <inserting a blue object into a designated slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the blue object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2545/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <moving a yellow pepper to the back corner of a surface>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the yellow pepper>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14214/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404", |
| "task": "Planning_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 the aim of <closing a drawer>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_12.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_13.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_14.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_15.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_16.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_17.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_18.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11404/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3926", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nIn pursuit of achieving <closing a kitchen drawer>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3926/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3926/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3926/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3926/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3926/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147", |
| "task": "Planning_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>\nIn pursuit of achieving <placing a banana in a mug>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_16.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_17.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_18.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11147/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763", |
| "task": "Planning_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>\nTo reach the goal of <picking up a ketchup bottle from a table and placing it elsewhere on the table>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle to a new location on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_14.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_15.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_16.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_17.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14763/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <moving a red spoon from a cloth to the left of the cloth>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift and move the red spoon to the left of the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_8.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_9.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_10.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_11.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_12.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_13.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15589/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <move a tiffin box across a table>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the tiffin box>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_11.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24214/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_1880", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nTo reach the goal of <placing sushi into a pot>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1880/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1880/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1880/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1880/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_1880/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <place butter on a board>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move above the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_10.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_11.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9221/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <moving a bowl to the upper right corner of a surface>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the bowl to the upper right corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4719/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <closing a drawer>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_0.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_1.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_2.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_3.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_4.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_5.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_6.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_7.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_8.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_9.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_10.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_11.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_12.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_67/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897", |
| "task": "Planning_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>\nWith the aim of <placing a stick of butter onto a wooden cutting board>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the butter on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_8.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_9.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_13.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_14.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_15.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_16.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_17.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_18.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_19.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_20.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_21.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_22.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_23.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_24.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_25.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_26.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_897/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197", |
| "task": "Planning_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>\nIn pursuit of achieving <inserting an oval object into its corresponding slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the oval object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_16.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_17.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_18.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_19.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_20.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_21.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1197/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <moving a blue block from the center of a surface to a corner>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the blue block towards the corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13855/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <inserting a star-shaped object into its corresponding slot>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the star into the matching cutout>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2509/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <moving a pickle to the back of a surface>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the pickle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4864/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500", |
| "task": "Planning_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <dragging a mug backwards across a table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the mug backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12500/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381", |
| "task": "Planning_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 the aim of <moving a bowl to a towel>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the bowl on the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_14.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_15.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_16.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_17.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_18.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_19.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_20.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_21.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_22.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_23.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_24.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21381/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470", |
| "task": "Planning_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>\nTo reach the goal of <placing a bowl inside an oven>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the bowl inside the oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7470/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961", |
| "task": "Planning_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>\nTo reach the goal of <pick up a bowl and place it over a green cloth>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the bowl above the green cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_14.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_15.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_16.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_17.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16961/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nThe objective is <moving a brush next to a pot>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the brush towards the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_10.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24893/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931", |
| "task": "Planning_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 the aim of <inserting a red hexagonal prism into a designated slot>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the red hexagonal prism into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_14.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_15.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_16.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_17.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_18.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_19.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_20.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_21.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_22.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_23.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3931/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590", |
| "task": "Planning_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> <image> <image> <image> <image> <image>\nThe objective is <retrieving a tea bag from a box>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the tea bag>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_8.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_9.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_10.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_11.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_12.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_13.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_14.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_15.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_16.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_17.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_18.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_19.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_20.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_21.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_22.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_23.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_24.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_25.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_26.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3590/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_769", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nTo reach the goal of <dragging a mug forward>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_769/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_769/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_769/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_769/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_769/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190", |
| "task": "Planning_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <insert a square-circle object into its matching slot>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<position above the matching slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2190/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157", |
| "task": "Planning_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 goal of <moving a bottle to the edge of a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_10.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_12.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_13.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_14.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_15.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_16.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_17.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_18.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_19.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_20.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_21.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_22.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_23.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_24.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9157/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nTo reach the goal of <move a cloth to the front edge of a surface>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_11.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13254/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497", |
| "task": "Planning_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 objective is <moving a banana from a plate to the table>. What should be the next step to move forward?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_8.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_9.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_10.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_11.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_12.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_13.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_14.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_15.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3497/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven the goal of <moving a banana from a plate to a table>, what is the most logical next move?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11887/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nIn pursuit of achieving <grasp a bottle and move it to another location on the table>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9548/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130", |
| "task": "Planning_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>\nIn pursuit of achieving <watering a plant and placing a watering can on a plate>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<tilt the watering can over the plant>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_130/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15927", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image>\nTo reach the goal of <taking sushi off a plate>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15927/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15927/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15927/frame_2.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <drag a strainer across a table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_980/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440", |
| "task": "Planning_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 the aim of <grasping a ketchup bottle and placing it on the table>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the ketchup bottle on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_16.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_17.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_18.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_19.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_20.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_21.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_22.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_23.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_24.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15440/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615", |
| "task": "Planning_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the aim of <placing a green cup into a dish rack>, what should you focus on next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the green cup towards the dish rack>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_615/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160", |
| "task": "Planning_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>\nTo reach the goal of <place the grapes on the cloth>, which task should be prioritized next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the grapes towards the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_11.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_12.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_13.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_14.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_15.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_16.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_17.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13160/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834", |
| "task": "Planning_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>\nIn pursuit of achieving <inserting a star-shaped object into its corresponding slot>, what's the next action to take?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move upwards away from the green board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_0.png", |
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| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6834/frame_21.png" |
| ] |
| } |
| ] |
