| [ |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <place the knife beside the pot>, and having done 1-<reach for the knife>, 2-<grab the knife>, 3-<lift the knife>, 4-<move the knife towards the pot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the knife beside the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_10.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_11.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_12.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_13.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_14.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_15.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_16.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_17.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_18.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_19.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_20.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_21.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_22.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_23.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_24.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3129/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694", |
| "task": "Planning_with_Context_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 your progress so far (1-<reach for the drawer handle>), what's the next step toward achieving <opening a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10694/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <opening a door>, and having done 1-<reach for the door handle>, 2-<grab the door handle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<press down the handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_344/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997", |
| "task": "Planning_with_Context_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>\nYou are working towards <placing a carrot onto a plate>. After completing steps 1-<reach for the carrot>, 2-<grasp the carrot>, 3-<lift the carrot>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the carrot towards the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_17.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_18.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_19.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_20.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_21.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_22.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13997/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360", |
| "task": "Planning_with_Context_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>\nYou are working towards <switching a light switch>. After completing steps 1-<approach the light switch>, 2-<flip the light switch>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the light switch>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_0.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_1.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_2.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_3.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_4.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_5.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_6.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_7.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_8.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_9.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_10.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_11.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_12.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_13.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_14.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_15.png", |
| "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1360/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190", |
| "task": "Planning_with_Context_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 your progress so far (1-<reach for the spoon>, 2-<grasp the spoon>, 3-<lift the spoon>, 4-<move the spoon towards the eggplant>), what's the next step toward achieving <place a spoon beneath an eggplant>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the spoon beneath the eggplant>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_8.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_9.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_10.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_11.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_12.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_13.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_14.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_15.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_16.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_17.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_18.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_19.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_20.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_21.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_22.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5190/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<reach for the blue towel>, 2-<grasp the blue towel>, 3-<lift the blue towel>. What is the next logical step toward <moving a blue towel next to a piece of sushi>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the towel next to the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_14.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_15.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_16.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_17.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_18.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_19.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_20.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21493/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192", |
| "task": "Planning_with_Context_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 your progress so far (1-<pick up the cylinder>, 2-<position the cylinder over the circular hole>), what's the next step toward achieving <inserting a cylindrical object into a designated slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the cylinder into the circular hole>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_10.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_11.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_12.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_13.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_14.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_15.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3192/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693", |
| "task": "Planning_with_Context_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>\nYou are working towards <placing a spoon into a pot>. After completing steps 1-<reach for the spoon>, 2-<grab the spoon>, 3-<move the spoon towards the pot>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the spoon into the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_14.png", |
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| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_16.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_17.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_18.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_19.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_20.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_21.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_22.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_23.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_24.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6693/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the bowl>. What is the next logical step toward <putting a bowl inside a kitchen cabinet>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/12_ucsd_kitchen_dataset_converted_externally_to_rlds#episode_61/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<pick up the arch-shaped object>, 2-<move towards the matching slot on the green board>, 3-<insert the arch-shaped object into the slot>, 4-<release the arch>. What is the next logical step toward <inserting an arch-shaped object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6162/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15169", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image>\nWith the following steps completed: 1-<pick up the pot>. What is the next logical step toward <moving a small metal pot from one location to another on a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15169/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15169/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15169/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15169/frame_3.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <picking up a bowl>, and having done 1-<move towards the bowl>, 2-<grab the bowl>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_5.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_6.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_7.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_8.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_9.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_10.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_11.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_12.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_14.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_15.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_16.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_17.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_18.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_19.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16512/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the spatula on the purple cloth>. What is the next logical step toward <move a spatula from a cloth to the front of a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the spatula>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_10.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_11.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_12.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3556/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_533", |
| "task": "Planning_with_Context_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>\nYou are working towards <inserting a star-shaped object into its corresponding slot>. After completing steps 1-<move towards the star-shaped object>, 2-<pick up the star-shaped object>, 3-<lift the star-shaped object>, 4-<move the star-shaped object towards the blue block>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the star-shaped object into the star-shaped slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_5.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_6.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_7.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_8.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_9.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_10.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_11.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_12.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_14.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_15.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_16.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_17.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_18.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_19.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_20.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_21.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_533/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the mushroom>. What's the next move to achieve the goal of <placing a mushroom in front of a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the mushroom>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_13829/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<approach the cabinet door handles>), what's the next step toward achieving <opening a cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the cabinet door handles>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_9.png", |
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| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_13.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3444/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<reach for the strainer>, 2-<grasp the strainer>. What is the next logical step toward <moving a strainer away from other objects>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the strainer backward>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5564/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874", |
| "task": "Planning_with_Context_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>\nYou are working towards <picking up a green bowl>. After completing steps 1-<reach for the green bowl>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the green bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_17.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6874/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_5933", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<move towards the purple object>. What is the next logical step toward <inserting a purple object into a designated slot in a blue puzzle board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the purple object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5933/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5933/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5933/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <opening a cabinet door>, and having done 1-<reach for the handle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528/frame_0.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528/frame_1.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528/frame_2.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528/frame_3.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_528/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3064", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the pear>, 2-<grab the pear>, 3-<lift the pear>), what's the next step toward achieving <placing a pear next to a knife>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the pear towards the knife>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3064/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3064/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3064/frame_13.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3064/frame_14.png", |
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| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3064/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16716", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <dragging a strainer across a table>. After completing steps 1-<reach for the strainer>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16716/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16716/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16716/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16716/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <moving a spoon from one side of a table to the other>, and having done 1-<reach for the spoon>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_11.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_12.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23104/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the drawer handle>, 2-<grasp the drawer handle>. What's the next move to achieve the goal of <opening a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_752/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the banana on the plate>, 2-<grasp the banana>. What's the next move to achieve the goal of <moving a banana from a plate to a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the banana from the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_0.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_1.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_2.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_3.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_4.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_5.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_6.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_9.png", |
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| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_11.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_12.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_13.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_14.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_15.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_16.png", |
| "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3840/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <pick up a bottle and place it in a bowl>, and having done 1-<reach for the bottle>, 2-<grasp the bottle>, 3-<lift the bottle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the bottle towards the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_0.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_1.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_2.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_3.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_4.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_8.png", |
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| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_11.png", |
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| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_13.png", |
| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_14.png", |
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| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_19.png", |
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| "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15904/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the potato>), what's the next step toward achieving <placing a potato on a napkin>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the potato>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_0.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_1.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_2.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_3.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_4.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_5.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_6.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_7.png", |
| "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15469/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265", |
| "task": "Planning_with_Context_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 your progress so far (1-<reach for the sushi>, 2-<grab the sushi>, 3-<lift the sushi>, 4-<move the sushi towards the colander>, 5-<place the sushi in the colander>), what's the next step toward achieving <placing sushi into a colander>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_14.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_15.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_16.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_17.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_18.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_19.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_20.png", |
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| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_22.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_23.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_24.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_25.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_26.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_27.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7265/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_60", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <picking up a croissant and placing it on a plate>, and having done 1-<reach for the croissant>, 2-<grasp the croissant>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the croissant>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_60/frame_0.png", |
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| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_60/frame_11.png", |
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| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_60/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_60/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <retrieving a carrot from a container>. After completing steps 1-<move towards the carrot>, 2-<grab the carrot>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the carrot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7858/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <move a bowl in front of a microwave>, and having done 1-<reach for the bowl>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_1338/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145", |
| "task": "Planning_with_Context_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>\nYou are working towards <opening a door>. After completing steps 1-<approach the door>, 2-<grasp the handle>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<turn and open the door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_9.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_10.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_11.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_12.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_13.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_14.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_15.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_16.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_17.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_18.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_19.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4145/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>. What's the next move to achieve the goal of <picking up a ketchup bottle from a table and placing it on the same table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle across the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_14.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_15.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_16.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13142/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the strainer>, 2-<grab the strainer>. What is the next logical step toward <dragging a strainer across a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5271/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<grab the handles of the double door>, 2-<pull the door handles outwards to open the door>), what's the next step toward achieving <opening a double door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<open the door fully>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_10.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_11.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_12.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_13.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3202/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the arch-shaped object>, 2-<pick up the arch-shaped object>. What's the next move to achieve the goal of <inserting an arch-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the arch-shaped object towards the blue board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_5.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_12.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_14.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_15.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_16.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_17.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5339/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736", |
| "task": "Planning_with_Context_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 following steps completed: 1-<pick up the star object>, 2-<move the star object towards the designated slot>, 3-<insert the star object into the slot>. What is the next logical step toward <inserting a star-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the star object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_5.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_6.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_12.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5736/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the oven>, 2-<lift the oven lid>. What is the next logical step toward <opening a oven>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<hold the lid open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_13.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_16.png", |
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| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_18.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_19.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_20.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_21.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_683/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the spoon>, 2-<pick up the spoon>, 3-<move the spoon towards the pot>. What's the next move to achieve the goal of <moving a spoon next to a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the spoon to the right of the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_14.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_15.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_16.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_17.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_18.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_19.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3861/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <moving a cone from one location to another on a table>, and having done 1-<reach for the cone>, 2-<grasp the cone>, 3-<lift the cone>, 4-<move the cone towards the back corner of the table>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the cone down in the corner>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_16.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_17.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_18.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_19.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_20.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_21.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_22.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_23.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_24.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_25.png", |
| "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10083/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the yellow object>. What's the next move to achieve the goal of <pushing a yellow object>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the yellow object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_0.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_1.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_2.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_3.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_4.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_5.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_6.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_7.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_8.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_9.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_10.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_11.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_12.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_13.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_14.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_15.png", |
| "rt_frames_success/rtx_frames_success_18/9_asu_table_top_converted_externally_to_rlds#episode_105/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the banana in the container>), what's the next step toward achieving <pick up a banana from a container and place it on a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10110/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the banana on the plate>. What is the next logical step toward <moving a banana from a plate to a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8751/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430", |
| "task": "Planning_with_Context_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 following steps completed: 1-<approach the microwave>. What is the next logical step toward <switching the microwave button>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<press the microwave button>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_2.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_3.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_6.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_7.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_8.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_9.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_10.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_11.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_12.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_13.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2430/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the spoon>, 2-<grasp the spoon>, 3-<lift the spoon>. What is the next logical step toward <moving a spoon behind a cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the spoon towards the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11622/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <inserting a hexagonal object into its corresponding slot>, and having done 1-<reach for the hexagonal object>, 2-<pick up the hexagonal object>, 3-<move the hexagonal object towards its slot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the hexagonal object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5947/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001", |
| "task": "Planning_with_Context_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 your progress so far (1-<reach for the drawer>), what's the next step toward achieving <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_14.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_15.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_16.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14001/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the spoon>. What's the next move to achieve the goal of <placing a spoon onto a dish towel>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_0.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_1.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_2.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_3.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_4.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_5.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_6.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_7.png", |
| "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9403/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the pot>), what's the next step toward achieving <moving a pot behind a block>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17536/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <dragging a mug from right to left across a table>, and having done 1-<reach for the mug>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12736/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098", |
| "task": "Planning_with_Context_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 following steps completed: 1-<reach for the spoon>, 2-<grasp the spoon>, 3-<lift the spoon>, 4-<move the spoon towards the napkin>. What is the next logical step toward <placing a spoon on a napkin>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the spoon on the napkin>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_10.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_11.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_12.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_13.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_14.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_15.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_16.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_17.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_18.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_19.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_20.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_21.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_22.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23098/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <moving a carrot to the top left corner of a table>, and having done 1-<reach for the carrot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the carrot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_2309/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087", |
| "task": "Planning_with_Context_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>\nYou are working towards <placing a bowl onto a board>. After completing steps 1-<reach for the bowl>, 2-<lift the bowl>, 3-<move the bowl over the board>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lower the bowl onto the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_16.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_17.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_18.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_19.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_20.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_21.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_22.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10087/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691", |
| "task": "Planning_with_Context_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>\nYou are working towards <placing an orange in a gray bowl>. After completing steps 1-<lift the orange>, 2-<move the orange towards the gray bowl>, 3-<place the orange in the bowl>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the orange>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_16.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_17.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_18.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_19.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_691/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557", |
| "task": "Planning_with_Context_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>\nYou are working towards <closing a drawer>. After completing steps 1-<reach towards the drawer>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_16.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1557/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <drag a strainer forwards>, and having done 1-<reach for the strainer>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_6.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_7.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_8.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_9.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_10.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_11.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_1158/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<pick up the broccoli>, 2-<move broccoli towards the pot>), what's the next step toward achieving <placing broccoli into a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drop the broccoli into the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14759/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <placing a piece of bread into a toaster oven>. After completing steps 1-<pick up the bread>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the bread towards the toaster oven>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_140/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the drawer handle>, 2-<grasp the drawer handle>, 3-<pull the drawer closed>, 4-<release the drawer handle>. What's the next move to achieve the goal of <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<retract from the drawer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_25.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_26.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8102/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<reach for the banana>, 2-<grasp the banana>, 3-<lift the banana>, 4-<move the banana towards the plate>, 5-<place the banana on the plate>. What is the next logical step toward <transferring a banana from a table to a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_25.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_26.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_757/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <opening a cabinet door>. After completing steps 1-<approach the cabinet handles>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the cabinet handles>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_9/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510", |
| "task": "Planning_with_Context_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 your progress so far (1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>), what's the next step toward achieving <picking up a ketchup bottle and placing it on the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle towards the designated spot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_0.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_1.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_2.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_3.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_4.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_5.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_6.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_7.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_8.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_9.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_10.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_11.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_12.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_13.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_14.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_15.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_16.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_17.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_18.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17510/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nYou are working towards <inserting a three-pronged object into its matching slot>. After completing steps 1-<move towards the three-pronged object>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the three-pronged object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8537/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517", |
| "task": "Planning_with_Context_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>\nYou are working towards <closing a drawer>. After completing steps 1-<reach for the drawer>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<close the drawer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_7.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_8.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_9.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_10.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_11.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_12.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_13.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_14.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_15.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_16.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3517/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the ketchup bottle>), what's the next step toward achieving <picking up a ketchup bottle from a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13667/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the strainer>, 2-<grasp the strainer>, 3-<lift the strainer>. What's the next move to achieve the goal of <dragging a strainer across a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the strainer from left to right>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_11.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_12.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_13.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_14.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_15.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_16.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13642/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the towel>), what's the next step toward achieving <push the towel to the left side of the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the towel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22351/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<move towards the double square>, 2-<pick up the double square>, 3-<move the double square towards its matching slot>. What is the next logical step toward <insert the double square into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the double square into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_9.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_10.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_11.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_12.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_13.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_14.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_15.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_16.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_17.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_18.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_19.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_20.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_21.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_22.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_23.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_24.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8167/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <opening a drawer>, and having done 1-<reach for the drawer handle>, 2-<grip the drawer handle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_14.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_15.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_16.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_17.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_18.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12715/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <opening a tea container>, and having done 1-<reach for the tea container lid>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the lid>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_10.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_11.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_12.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_13.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_14.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_15.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9944/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <closing a tea container>, and having done 1-<reach for the lid of the tea container>, 2-<pick up the lid>, 3-<move the lid towards the tea container>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the lid on the tea container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_0.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_1.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_2.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_3.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_4.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_5.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_6.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_7.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_8.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_9.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_10.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_11.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_12.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_13.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_14.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_15.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_16.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_17.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_18.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1850/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<approach the vessel>), what's the next step toward achieving <moving a vessel to the center of a cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the vessel>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3496/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<move towards the cup>. What's the next move to achieve the goal of <taking a cucumber out of a cup>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the cucumber>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2219/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <picking up a ketchup bottle and placing it in a container>, and having done 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_14.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_15.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5111/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the double square object>, 2-<pick up the double square object>, 3-<move the double square object towards the blue board>), what's the next step toward achieving <inserting a double square object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the double square object into the matching slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_5.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_6.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_7.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_8.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_9.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_10.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_11.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_12.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_14.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_15.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_16.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_17.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_18.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_19.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5496/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the banana>, 2-<grasp the banana>, 3-<lift the banana>. What's the next move to achieve the goal of <placing a banana into a mug>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10143/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086", |
| "task": "Planning_with_Context_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 following steps completed: 1-<reach for the cylinder>, 2-<pick up the cylinder>, 3-<move the cylinder towards the target hole>. What is the next logical step toward <inserting a cylinder into a designated hole>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the cylinder into the hole>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7086/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109", |
| "task": "Planning_with_Context_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 your progress so far (1-<reach for the ketchup bottle on the plate>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle from the plate>, 4-<move the ketchup bottle towards the table>), what's the next step toward achieving <moving a ketchup bottle from a plate to a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the ketchup bottle on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_17.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_18.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_19.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_20.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_21.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_22.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_23.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_24.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7109/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <placing a bowl inside an oven>, and having done 1-<open the oven door>, 2-<place the bowl inside the oven>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<close the oven door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_10.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_11.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_12.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_13.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_14.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_15.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_16.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_17.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_18.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_19.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9575/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385", |
| "task": "Planning_with_Context_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> <image> <image>\nConsidering the goal of <dragging a mug forwards>, and having done 1-<reach for the mug>, 2-<grasp the mug>, 3-<drag the mug forwards>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_0.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_1.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_2.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_3.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_4.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_5.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_6.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_7.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_8.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_9.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_10.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_11.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_12.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_13.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_14.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_15.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_16.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_17.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_18.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_19.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_20.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_21.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_22.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_23.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_24.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_25.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_26.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_27.png", |
| "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6385/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the bowl>, 2-<move the bowl over the board>. What's the next move to achieve the goal of <place a bowl on a wooden board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the bowl on the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_0.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_1.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_2.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_3.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_4.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_5.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_6.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_7.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_8.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_9.png", |
| "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9108/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>. What's the next move to achieve the goal of <moving a ketchup bottle from a table to a microwave>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_8.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_9.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_10.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_11.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_12.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_13.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_14.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8206/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <moving a colander next to a green pepper>, and having done 1-<reach for the colander>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the colander>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_7.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_8.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_9.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_10.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_11.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7711/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563", |
| "task": "Planning_with_Context_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>\nYou are working towards <inserting an oval object into its corresponding slot>. After completing steps 1-<move towards the oval object>, 2-<pick up the oval object>, 3-<move the oval object towards the target slot>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the oval object into the target slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_9.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_10.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_11.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_12.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_13.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_14.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_15.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_16.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_17.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_18.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_19.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_20.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_21.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_22.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_23.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_24.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8563/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<approach the microwave>, 2-<grip the microwave door handle>, 3-<pull the door open>. What's the next move to achieve the goal of <opening a microwave door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<hold the door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_0.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_1.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_2.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_3.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_4.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_5.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_6.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_7.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_8.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_9.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_10.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_11.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_12.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_13.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_14.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_15.png", |
| "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4108/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>), what's the next step toward achieving <pick up a ketchup bottle from a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_14.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_15.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_16.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_17.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17119/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38", |
| "task": "Planning_with_Context_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 your progress so far (1-<hover over the grid clamp>), what's the next step toward achieving <placing a grid clamp>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lower towards the grid clamp>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/15_dlr_sara_grid_clamp_converted_externally_to_rlds#episode_38/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>. What's the next move to achieve the goal of <pulling a ketchup bottle backward>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the bottle backward>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10186/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<pick up the red object>, 2-<move the red object towards the target slot>. What's the next move to achieve the goal of <inserting a red object into a designated slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the red object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_0.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_1.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_2.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_3.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_4.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_10.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_11.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_12.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_13.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_14.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_15.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_16.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_17.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_18.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_19.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_20.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_21.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_22.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_23.png", |
| "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5652/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<approach the cabinet door>. What is the next logical step toward <opening a cabinet door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<reach for the handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_2.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_3.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_6.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1654/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <place the red object on the cloth>, and having done 1-<move towards the red object>, 2-<grab the red object>, 3-<lift the red object>, 4-<move the red object towards the cloth>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the red object on the cloth>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_10.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_12.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_13.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_14.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8911/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <opening a cabinet door>. After completing steps 1-<approach the cabinet door>, 2-<grasp the handle of the cabinet door>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the cabinet door open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_0.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_1.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_2.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_3.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_4.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_5.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_6.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_7.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_8.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_9.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_10.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_11.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_12.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_13.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_14.png", |
| "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_36/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<move towards the carrot on the plate>. What is the next logical step toward <picking up a carrot from a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the carrot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23619/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the cylinder>, 2-<pick up the cylinder>, 3-<move the cylinder towards the shape-sorter>, 4-<insert the cylinder into the corresponding hole>), what's the next step toward achieving <inserting a cylinder into its designated spot on a shape-sorter>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the cylinder>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_16.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_17.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_18.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_19.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_20.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_21.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_22.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_23.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_24.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_25.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_26.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_27.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2343/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 6, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<move towards the pan>, 2-<move away from the pan and towards the cucumber>, 3-<grab the cucumber>, 4-<move the cucumber towards the pan>, 5-<place the cucumber in the pan>, 6-<release the cucumber>. What is the next logical step toward <placing a cucumber into a pan>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the cucumber and pan>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_9.png", |
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| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_12.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_13.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_14.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_15.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_16.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_17.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_18.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_19.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_20.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_21.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_22.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_23.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_24.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_25.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_26.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_27.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24152/frame_28.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the bottle>. What is the next logical step toward <placing a bottle into a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_520/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <placing a bowl into a drawer>, and having done 1-<pick up the bowl>, 2-<move the bowl over the drawer>, 3-<place the bowl inside the drawer>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_16.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15194/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35", |
| "task": "Planning_with_Context_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 following steps completed: 1-<move towards the mug>. What is the next logical step toward <pouring liquid from a cup into a mug>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pour liquid into the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35/frame_0.png", |
| "rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35/frame_1.png", |
| "rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35/frame_2.png", |
| "rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35/frame_3.png", |
| "rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_54/17_dlr_sara_pour_converted_externally_to_rlds#episode_35/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<move towards the purple object>, 2-<pick up the purple object>. What's the next move to achieve the goal of <inserting a purple object into a designated slot on a blue platform>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the purple object towards the target slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_14.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_15.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_16.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6973/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060", |
| "task": "Planning_with_Context_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 following steps completed: 1-<move towards the plate with the carrot>, 2-<grab the carrot from the plate>. What is the next logical step toward <removing a carrot from a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the carrot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_13.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_14.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_15.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_16.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_17.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19060/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <closing a drawer>, and having done 1-<approach the drawer>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<push the drawer inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2662/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<approach the drawer>, 2-<grab the handle of the drawer>), what's the next step toward achieving <opening a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_2.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_3.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_6.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_7.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1853/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the toast on the plate>. What's the next move to achieve the goal of <picking up a piece of toast from a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the toast>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_14.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_15.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_16.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12537/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the bag of chips>. What's the next move to achieve the goal of <retrieving a bag of chips>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the bag of chips>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_0.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_1.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_2.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_3.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_4.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_5.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_6.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_7.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_8.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_9.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_10.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_11.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_12.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_13.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_14.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_15.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_16.png", |
| "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12721/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <inserting a hexagonal object into its corresponding slot>, and having done 1-<move towards the hexagon object>, 2-<grasp the hexagon object>, 3-<lift the hexagon object>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<position the hexagon object above the corresponding slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_16.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_17.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_18.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2464/frame_19.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_611", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <inserting a purple object into a designated slot>, and having done 1-<pick up the purple object>, 2-<move the purple object towards the blue puzzle piece>, 3-<insert the purple object into the matching slot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the purple object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_22.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_23.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_24.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_611/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_924", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image>\nWith the following steps completed: 1-<grab the handles of the double door>. What is the next logical step toward <opening a double door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the handles to open both doors simultaneously>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_924/frame_0.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_924/frame_1.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_924/frame_2.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <moving a pot next to an orange towel>, and having done 1-<reach for the pot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_0.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_1.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_2.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_3.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_4.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_5.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_6.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_7.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_8.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_9.png", |
| "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24511/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777", |
| "task": "Planning_with_Context_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>\nYou are working towards <picking up a ketchup bottle and placing it in a strainer>. After completing steps 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, 4-<move the ketchup bottle towards the strainer>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the ketchup bottle inside the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_14.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_15.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_16.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_17.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_18.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_19.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_20.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_21.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_22.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_23.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_24.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10777/frame_25.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <closing a drawer>, and having done 1-<reach for the drawer handle>, 2-<grasp the drawer handle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer closed>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_0.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_1.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_2.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_3.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_4.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_5.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_6.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_7.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_8.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_9.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_10.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_11.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_12.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_13.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_14.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_15.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_16.png", |
| "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4812/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the arch-shaped object>, 2-<grasp the arch-shaped object>, 3-<lift the arch-shaped object>, 4-<position the arch-shaped object over its slot>), what's the next step toward achieving <inserting an arch-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the arch-shaped object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_14.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_15.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_16.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_17.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_18.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_19.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_20.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_21.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_22.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_23.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4639/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_25", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the croissant>), what's the next step toward achieving <picking up a croissant and placing it on a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the croissant>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_25/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_25/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_25/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_25/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_25/frame_4.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the mug>, 2-<grasp the mug>, 3-<lift the mug>), what's the next step toward achieving <dragging a mug from left to right>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the mug to the right>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14491/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <placing a carrot onto a plate>, and having done 1-<reach for the carrot>, 2-<pick up the carrot>, 3-<move the carrot over the plate>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the carrot on the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_10.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_11.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_12.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_13.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_14.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_15.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_16.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_17.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_18.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_19.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14248/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <moving a pot between a strawberry and a rag>, and having done 1-<reach for the pot>, 2-<grab the pot>, 3-<lift the pot>, 4-<move the pot towards the strawberry and rag>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the pot between the strawberry and the rag>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_14.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_15.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_16.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_17.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_18.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_19.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_20.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_21.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_22.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4186/frame_23.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125", |
| "task": "Planning_with_Context_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> <image>\nGiven your progress so far (1-<pick up the red block>, 2-<move the red block towards the empty slot>, 3-<insert the red block into the empty slot>), what's the next step toward achieving <inserting a red block into a designated slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the red block>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_16.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_17.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_18.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_19.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_20.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_21.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_22.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_23.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_24.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_25.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_26.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6125/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<move towards the red hexagonal prism>, 2-<grasp the red hexagonal prism>. What's the next move to achieve the goal of <inserting a red hexagonal prism into a designated slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red hexagonal prism>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2384/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the banana>, 2-<grasp the banana>, 3-<lift the banana>, 4-<move the banana towards the bowl>, 5-<place the banana in the bowl>), what's the next step toward achieving <picking up a banana and placing it in a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_18.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_19.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_20.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_21.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_22.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_23.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_24.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_25.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_75/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the mug>, 2-<grasp the mug>, 3-<lift the mug>. What's the next move to achieve the goal of <dragging a mug from right to left>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the mug from right to left>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6496/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_20", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<pick up the cloth>. What's the next move to achieve the goal of <moving a cloth to the left side of a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the cloth to the left>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_20/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_20/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_20/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_20/frame_3.png", |
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| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_20/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the ketchup bottle on the plate>, 2-<grasp the ketchup bottle>. What's the next move to achieve the goal of <moving a ketchup bottle from a plate to the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle from the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_1.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_2.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_3.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_4.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_5.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_6.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_7.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_8.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_9.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_10.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_11.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_12.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_13.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2205/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<move towards the blueberries>. What's the next move to achieve the goal of <placing blueberries onto a plate in a sink>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the blueberries>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20555/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692", |
| "task": "Planning_with_Context_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>\nYou are working towards <inserting a brown cuboid into a designated slot>. After completing steps 1-<pick up the brown cuboid>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the brown cuboid towards the designated slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1692/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the container lid>, 2-<grasp the lid>. What's the next move to achieve the goal of <closing a container lid>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the lid>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17326/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989", |
| "task": "Planning_with_Context_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>\nYou are working towards <retrieving an apple from a pot>. After completing steps 1-<move towards the pot>, 2-<grab the apple from the pot>, 3-<lift the apple>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the pot with the apple>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_0.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_1.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_2.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_3.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_4.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_5.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_6.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_7.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_8.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_9.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_10.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_11.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_12.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_13.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_14.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_15.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_16.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_17.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_18.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_19.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_20.png", |
| "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20989/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the grapes>, 2-<grab the grapes>, 3-<lift the grapes>, 4-<move the grapes towards the plate>), what's the next step toward achieving <picking grapes and placing them on a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the grapes on the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_15.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_16.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_17.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_18.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_19.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_20.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_21.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_22.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_23.png", |
| "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_71/frame_24.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <moving a banana from a table to a plate>. After completing steps 1-<reach for the banana on the table>, 2-<grasp the banana>, 3-<lift the banana>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10053/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <inserting a purple and blue object into a designated slot>, and having done 1-<approach the purple and blue object>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the purple and blue object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6003/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the strawberry>, 2-<grasp the strawberry>. What is the next logical step toward <moving a strawberry next to a green spatula>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the strawberry>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_13.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10956/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the mug>, 2-<grasp the mug>. What's the next move to achieve the goal of <dragging a mug from left to right>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16687/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<pick up the double-square object>), what's the next step toward achieving <inserting a double-square object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<position the double-square object over the matching slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4715/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 6, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <placing a bowl into a drawer>. After completing steps 1-<reach for the bowl>, 2-<grasp the bowl>, 3-<lift the bowl>, 4-<move the bowl towards the drawer>, 5-<place the bowl into the drawer>, 6-<release the bowl>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<retract from the drawer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_14.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_15.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_16.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_17.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_18.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_19.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_20.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_21.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_22.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_23.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_24.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_25.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_26.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17188/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676", |
| "task": "Planning_with_Context_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 following steps completed: 1-<reach for the ketchup bottle>. What is the next logical step toward <picking up a ketchup bottle from a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6676/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<move towards the red cube>, 2-<grab the red cube>. What's the next move to achieve the goal of <stacking a red cube onto a green cube>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the red cube>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_3.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_4.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_5.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_6.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_7.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_8.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_12.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_13.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_14.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_311/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514", |
| "task": "Planning_with_Context_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>\nGiven your progress so far (1-<reach for the spoon>, 2-<grasp the spoon>), what's the next step toward achieving <placing a spoon below a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_10.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_11.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_12.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_13.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_14.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_15.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_16.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17514/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>. What is the next logical step toward <picking up a ketchup bottle and placing it on the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15491/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<approach the refrigerator>, 2-<grasp the refrigerator door handle>. What's the next move to achieve the goal of <opening a refrigerator door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull open the refrigerator door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_8.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_9.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_10.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_11.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_12.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_13.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_14.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_15.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_427/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <inserting a double-square shaped object into its matching slot>, and having done 1-<move towards the double-square shaped object>, 2-<grab the double-square shaped object>, 3-<lift the double-square shaped object>, 4-<position the double-square shaped object above the matching slot>, 5-<insert the double-square shaped object into the matching slot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the double-square shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_10.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_11.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_12.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_13.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_14.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_15.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_16.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_17.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_18.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_19.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_20.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_21.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_22.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_23.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_24.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_25.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_26.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <dragging a strainer across a table>. After completing steps 1-<reach for the strainer>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7641/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the sushi>, 2-<grasp the sushi>, 3-<lift the sushi>), what's the next step toward achieving <placing a piece of sushi on a plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the sushi over the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_0.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_1.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_2.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_3.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_4.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_5.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_6.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_7.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_8.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_9.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_10.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_11.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_12.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_13.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_14.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_15.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_16.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_17.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_18.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_19.png", |
| "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19573/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <picking up a banana and placing it into a mug>, and having done 1-<reach for the banana>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_0.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_1.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_2.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_3.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_4.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_5.png", |
| "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11607/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the arch-shaped object>. What's the next move to achieve the goal of <inserting an arch-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the arch-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7461/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <moving a rag next to a sushi roll>. After completing steps 1-<pick up the sushi>, 2-<place the sushi on the counter>, 3-<pick up the rag>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the rag near the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_13.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_14.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11849/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<move towards the white plate>, 2-<pick up the white plate>, 3-<move the white plate towards the red plate>), what's the next step toward achieving <placing a white plate onto a red plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the white plate on the red plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_13.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_14.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_15.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_16.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_17.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_18.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_19.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_20.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_21.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_22.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_23.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_24.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_25.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_11/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_801", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <moving a piece of cheese to the right upper corner of the table>, and having done 1-<reach for the cheese in the bowl>, 2-<grab the cheese>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the cheese and move towards the right upper corner of the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_5.png", |
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| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_12.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_13.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_14.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_801/frame_15.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <picking up a blue cup>, and having done 1-<reach for the blue cup>, 2-<grasp the blue cup>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the blue cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_0.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_1.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_2.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_3.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_4.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_5.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_6.png", |
| "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3086/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<move towards the toy on the towel>), what's the next step toward achieving <relocating a toy from a towel to the front edge of a surface>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the toy>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_7.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_8.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_9.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_10.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_11.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_12.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11472/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <moving a ketchup bottle from a table to an oven>, and having done 1-<reach for the ketchup bottle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_0.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_1.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_2.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_3.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_4.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_5.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_6.png", |
| "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17933/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the door handle>, 2-<grasp the door handle>, 3-<turn the door handle downwards>. What's the next move to achieve the goal of <closing a door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the door inwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_0.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_1.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_2.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_3.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_4.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_5.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_6.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_7.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_8.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_9.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_10.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_11.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_12.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_13.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_14.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_15.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_16.png", |
| "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3236/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <picking a green apple from a table>, and having done 1-<move towards the apple>, 2-<grip the apple>, 3-<lift the apple>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away with the apple>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_0.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_1.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_2.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_3.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_4.png", |
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| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_8.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_9.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_10.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_11.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_12.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_13.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_14.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_15.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_16.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_17.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_18.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_19.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_20.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_21.png", |
| "rt_frames_success/rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_101/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350", |
| "task": "Planning_with_Context_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>\nYou are working towards <opening a tea container lid>. After completing steps 1-<reach for the tea container>, 2-<grab the lid of the tea container>, 3-<lift the lid off the tea container>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the lid next to the tea container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_0.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_1.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_2.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_3.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_4.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_5.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_6.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_7.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_8.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_9.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_10.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_11.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_12.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_13.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_14.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_15.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_16.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_17.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_18.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_19.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_20.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_21.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_22.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_23.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_24.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_25.png", |
| "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17350/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <inserting a cylinder into its corresponding hole on a shape-sorter>, and having done 1-<reach for the blue cylinder>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the cylinder>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_9.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_10.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_11.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_12.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_13.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7909/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <placing broccoli into a pot>. After completing steps 1-<reach for the broccoli>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the broccoli>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_0.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_1.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_2.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_3.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_4.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_5.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_6.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_7.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_8.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_9.png", |
| "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14175/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 4, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<move towards the butter>, 2-<pick up the butter>, 3-<move the butter towards the board>, 4-<place the butter on the board>. What is the next logical step toward <place butter on a board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_0.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_1.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_2.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_3.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_4.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_5.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_6.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_7.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_8.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_9.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_10.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_11.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_12.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_13.png", |
| "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14520/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<pick up the hexagon>. What is the next logical step toward <inserting a hexagonal object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the hexagon into the hexagon-shaped slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4527/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the drawer handle>), what's the next step toward achieving <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the drawer handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_0.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_1.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_2.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_3.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_4.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_5.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_6.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_7.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_8.png", |
| "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_5181/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nConsidering the goal of <switching the button of a faucet>, and having done 1-<move towards the faucet>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<reach for the button>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4709/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_19/28_viola#episode_133", |
| "task": "Planning_with_Context_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>\nYou are working towards <moving a bowl from a lazy susan to a plate>. After completing steps 1-<reach for the bowl on the lazy susan>, 2-<pick up the bowl>, 3-<move the bowl towards the plate>, 4-<place the bowl on the plate>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<retract from the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_0.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_1.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_2.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_3.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_4.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_5.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_6.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_7.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_8.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_9.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_10.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_11.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_12.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_13.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_14.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_15.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_16.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_17.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_18.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_19.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_20.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_21.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_22.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_23.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_24.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_25.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_26.png", |
| "rt_frames_success/rtx_frames_success_19/28_viola#episode_133/frame_27.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the strainer>. What's the next move to achieve the goal of <drag a strainer backwards>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the strainer>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7582/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <inserting an oval object into its corresponding slot>. After completing steps 1-<move towards the oval object>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the oval object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6386/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the spoon>. What is the next logical step toward <moving a spoon from one side of the table to the other>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the spoon>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_0.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_1.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_2.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_3.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_4.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_5.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_6.png", |
| "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1129/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <closing a tea container>. After completing steps 1-<pick up the lid>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the lid on the container>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_0.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_1.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_2.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_3.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_4.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_5.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_6.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_7.png", |
| "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8911/frame_8.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423", |
| "task": "Planning_with_Context_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>\nWith the following steps completed: 1-<lift the pot>, 2-<move the pot>. What is the next logical step toward <relocate a pot next to a spatula>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the pot on the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_0.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_1.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_2.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_3.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_4.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_5.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_6.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_7.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_8.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_9.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_10.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_11.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_12.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_13.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_14.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_15.png", |
| "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13423/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_233", |
| "task": "Planning_with_Context_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 following steps completed: 1-<reach for the spatula>, 2-<grasp the spatula>, 3-<lift the spatula>. What is the next logical step toward <placing a spatula horizontally near a pot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the spatula towards the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_10.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_11.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_12.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_13.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_233/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<approach the open drawer>. What's the next move to achieve the goal of <closing a drawer>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the drawer handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_5053/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<move towards the three-pronged object>. What's the next move to achieve the goal of <inserting a three-pronged object into a matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the three-pronged object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1132/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the butter>, 2-<grasp the butter>, 3-<lift the butter>), what's the next step toward achieving <place the butter stick on the cutting board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the butter towards the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_0.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_1.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_2.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_3.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_4.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_5.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_6.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_7.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_8.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_9.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_10.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_11.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_12.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_13.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_14.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_15.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_16.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_17.png", |
| "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7557/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image>\nConsidering the goal of <placing a bottle into a pot>, and having done 1-<move towards the bottle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6/frame_0.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6/frame_1.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6/frame_2.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6/frame_3.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6/frame_4.png", |
| "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_6/frame_5.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the bowl>. What is the next logical step toward <picking up a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13678/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705", |
| "task": "Planning_with_Context_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 your progress so far (1-<pick up the pan>, 2-<hold the pan>, 3-<pick up the red cube>, 4-<place the red cube in the pan>), what's the next step toward achieving <placing a red cube into a pan and then placing the pan on the stove>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the pan with the red cube on the stove>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_9.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_10.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_11.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_12.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_13.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_14.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_15.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_16.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_2705/frame_17.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<pick up the sushi>, 2-<move the sushi away>, 3-<grab the cloth>), what's the next step toward achieving <move a cloth next to a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the cloth next to the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_0.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_1.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_2.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_3.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_4.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_5.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_6.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_7.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_8.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_9.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_10.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_11.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_12.png", |
| "rt_frames_success/rtx_frames_success_8/49_bridge#episode_17974/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 3, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the bottle>, 2-<grab the bottle>, 3-<lift the bottle>), what's the next step toward achieving <picking up a bottle and placing it on a different surface>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the bottle over the desired location>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_0.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_1.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_2.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_3.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_4.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_5.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_6.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_7.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_8.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_9.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_10.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_11.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_12.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_13.png", |
| "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1938/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <place a spoon near a cloth and a pot>, and having done 1-<reach for the spoon>, 2-<grasp the spoon>, 3-<lift the spoon>, 4-<move the spoon towards the cloth and pot>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the spoon near the cloth and pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_0.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_1.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_2.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_3.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_4.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_5.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_6.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_7.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_8.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_9.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_10.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_11.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_12.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_13.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_14.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_15.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_16.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_17.png", |
| "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8306/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <opening a cabinet door>. After completing steps 1-<approach the cabinet door>, 2-<grab the handles>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the handles to open the cabinet door>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_8.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_9.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_10.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_11.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_12.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_13.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4962/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach towards the mug>. What's the next move to achieve the goal of <dragging a mug backwards>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the mug>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_0.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_1.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_2.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_3.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_4.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_5.png", |
| "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1992/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263", |
| "task": "Planning_with_Context_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>\nGiven your progress so far (1-<move towards the butter dish>, 2-<pick up the butter>, 3-<move the butter towards the board>, 4-<place the butter on the board>), what's the next step toward achieving <placing a stick of butter on a wooden board>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<retract from the board>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_2.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_3.png", |
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| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_9.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_10.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_11.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_12.png", |
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| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_15.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_16.png", |
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| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_23.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_24.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_25.png", |
| "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10263/frame_26.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_785", |
| "task": "Planning_with_Context_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>\nGiven your progress so far (1-<release the spatula>, 2-<pick up the red pepper>, 3-<place the red pepper on the table>, 4-<grab the cucumber from the cup>), what's the next step toward achieving <taking a cucumber out of a cup>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the cucumber>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_0.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_1.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_2.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_3.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_4.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_5.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_6.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_7.png", |
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| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_12.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_13.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_14.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_15.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_16.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_17.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_18.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_19.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_20.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_21.png", |
| "rt_frames_success/rtx_frames_success_16/49_bridge#episode_785/frame_22.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the hexagonal object>, 2-<pick up the hexagonal object>. What's the next move to achieve the goal of <inserting a hexagonal object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the hexagonal object towards the hexagonal slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_6.png", |
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| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_12.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_13.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_14.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_15.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_16.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_17.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4038/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_343", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<move towards the red cube>. What is the next logical step toward <stacking a red cube onto a green cube>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the red cube>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_343/frame_0.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_343/frame_1.png", |
| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_343/frame_2.png", |
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| "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_343/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13334", |
| "task": "Planning_with_Context_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 following steps completed: 1-<reach for the banana on the plate>, 2-<grasp the banana>, 3-<lift the banana from the plate>. What is the next logical step toward <moving a banana from a plate to a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the banana towards the table>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13334/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13334/frame_1.png", |
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| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13334/frame_16.png", |
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| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13334/frame_18.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <pick up a bottle of ketchup and place it on a plate>, and having done 1-<reach for the ketchup bottle>, 2-<grasp the ketchup bottle>, 3-<lift the ketchup bottle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the ketchup bottle towards the plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_0.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_1.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_2.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_3.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_4.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_5.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_6.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_7.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_8.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_9.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_10.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_11.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_12.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_13.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_14.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_15.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_16.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_17.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_18.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_19.png", |
| "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7124/frame_20.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the ketchup bottle>), what's the next step toward achieving <picking up a ketchup bottle from a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11148/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_629", |
| "task": "Planning_with_Context_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>\nYou are working towards <inserting a hexagonal object into its corresponding slot>. After completing steps 1-<move towards the hexagonal object>, 2-<pick up the hexagonal object>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the hexagonal object over the hexagonal slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_0.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_1.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_2.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_3.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_4.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_5.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_6.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_7.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_8.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_9.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_10.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_11.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_12.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_13.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_14.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_15.png", |
| "rt_frames_success/rtx_frames_success_32/57_fmb#episode_629/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the pot>), what's the next step toward achieving <move a pot away from a cloth>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the pot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_0.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_1.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_2.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_3.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_4.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_5.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_6.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_7.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_8.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_9.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_10.png", |
| "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6305/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205", |
| "task": "Planning_with_Context_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 following steps completed: 1-<approach the oven door>, 2-<grab the oven door handle>, 3-<close the oven door>. What is the next logical step toward <closing an oven door>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the oven door handle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_0.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_1.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_2.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_3.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_4.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_5.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_6.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_7.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_8.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_9.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_10.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_11.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_12.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_13.png", |
| "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4205/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the mug>, 2-<grab the mug>), what's the next step toward achieving <dragging a mug backwards on a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<drag the mug backwards>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_10.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13598/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <inserting a rectangular prism into a matching slot>, and having done 1-<move towards the rectangular prism>, 2-<grab the rectangular prism>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the rectangular prism>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_7.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_8.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_9.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_10.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_11.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_12.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_13.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8196/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the fork>, 2-<grasp the fork>. What is the next logical step toward <placing a fork between a towel and a bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the fork>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_0.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_1.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_2.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_3.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_4.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_5.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_6.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_7.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_8.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_9.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_10.png", |
| "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22887/frame_11.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nConsidering the goal of <opening a drawer>, and having done 1-<reach for the drawer handle>, 2-<grip the drawer handle>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pull the drawer open>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_0.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_1.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_2.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_3.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_4.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_5.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_6.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_7.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_8.png", |
| "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<reach for the double-square object>. What's the next move to achieve the goal of <inserting a double-square object into its matching slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the double-square object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_0.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_1.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_2.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_3.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_4.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_5.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_6.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_7.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_8.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_9.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_10.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_11.png", |
| "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4748/frame_12.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79", |
| "task": "Planning_with_Context_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>\nConsidering the goal of <picking up a yellow cup>, and having done 1-<move towards the yellow cup>, what should you do next?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the yellow cup>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_7.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_8.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_9.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_10.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_11.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_12.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_13.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_14.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_15.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_79/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643", |
| "task": "Planning_with_Context_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 your progress so far (1-<pick up the star object>, 2-<move the star object towards the designated slot>, 3-<insert the star object into the slot>), what's the next step toward achieving <inserting a star-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<release the star object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_0.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_1.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_2.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_3.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_4.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_5.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_6.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_7.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_8.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_9.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_10.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_11.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_12.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_13.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_14.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_15.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_16.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_17.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_18.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_19.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_20.png", |
| "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2643/frame_21.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<pick up the orange>), what's the next step toward achieving <placing an orange into a yellow bowl>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<place the orange into the yellow bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_0.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_1.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_2.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_3.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_4.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_5.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_6.png", |
| "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_974/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nYou are working towards <inserting a star shaped object into its corresponding slot>. After completing steps 1-<move towards the star shaped object>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the star shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_0.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_1.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_2.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_3.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_4.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_5.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_6.png", |
| "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7945/frame_7.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_108", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<move towards the arch-shaped object>), what's the next step toward achieving <inserting an arch-shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<pick up the arch-shaped object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_0.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_1.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_2.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_3.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_4.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_5.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_6.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_7.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_8.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_9.png", |
| "rt_frames_success/rtx_frames_success_27/57_fmb#episode_108/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nWith the following steps completed: 1-<reach for the banana>, 2-<grasp the banana>. What is the next logical step toward <picking up a banana and placing it on a oven>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the banana>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_0.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_1.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_2.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_3.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_4.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_5.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_6.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_7.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_8.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_9.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_10.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_11.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_12.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_13.png", |
| "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10740/frame_14.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840", |
| "task": "Planning_with_Context_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>\nYou are working towards <picking up a bowl>. After completing steps 1-<move towards the bowl>, what's the next immediate task?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the bowl>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_0.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_1.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_2.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_3.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_4.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_5.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_6.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_7.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_8.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_9.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_10.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_11.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_12.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_13.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_14.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_15.png", |
| "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14840/frame_16.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the white plate>, 2-<grab the white plate>), what's the next step toward achieving <placing a white plate onto a red plate>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<lift the white plate>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_6.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_7.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_8.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_9.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_10.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_11.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_12.png", |
| "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_38/frame_13.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nSo far, you've completed these steps: 1-<move towards the sushi>. What's the next move to achieve the goal of <retrieving sushi from a container>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the sushi>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_0.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_1.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_2.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_3.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_4.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_5.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_6.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_7.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_8.png", |
| "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3306/frame_9.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 5, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the orange>, 2-<grasp the orange>, 3-<lift and move the orange towards the stove top>, 4-<place the orange on the stove top>, 5-<release the orange>), what's the next step toward achieving <moving an orange from near the sink to the stove top>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move away from the stove top>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_0.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_1.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_2.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_3.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_4.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_5.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_6.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_7.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_8.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_9.png", |
| "rt_frames_success/rtx_frames_success_7/49_bridge#episode_16852/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<move towards the red object>), what's the next step toward achieving <picking up a red object from a table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grab the red object>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_0.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_1.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_2.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_3.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_4.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_5.png", |
| "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1009/frame_6.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 2, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the double-square object>, 2-<pick up the double-square object>), what's the next step toward achieving <inserting a double-square shaped object into its corresponding slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<move the double-square object towards the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_0.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_1.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_2.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_3.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_4.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_5.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_6.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_7.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_8.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_9.png", |
| "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3271/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434", |
| "task": "Planning_with_Context_Task", |
| "selected_step": 1, |
| "conversations": [ |
| { |
| "from": "human", |
| "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nGiven your progress so far (1-<reach for the ketchup bottle placed on a oven>), what's the next step toward achieving <moving a ketchup bottle from a oven to the table>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<grasp the ketchup bottle>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_0.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_1.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_2.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_3.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_4.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_5.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_6.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_7.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_8.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_9.png", |
| "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13434/frame_10.png" |
| ] |
| }, |
| { |
| "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_739", |
| "task": "Planning_with_Context_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>\nSo far, you've completed these steps: 1-<reach for the blue object>, 2-<grasp the blue object>, 3-<lift the blue object>, 4-<move the blue object towards the target slot>. What's the next move to achieve the goal of <inserting a blue object into a designated slot>?" |
| }, |
| { |
| "from": "gpt", |
| "value": "<insert the blue object into the slot>" |
| } |
| ], |
| "image": [ |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_0.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_1.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_2.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_3.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_4.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_5.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_6.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_7.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_8.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_9.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_10.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_11.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_12.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_13.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_14.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_15.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_16.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_17.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_18.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_19.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_20.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_21.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_22.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_23.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_24.png", |
| "rt_frames_success/rtx_frames_success_33/57_fmb#episode_739/frame_25.png" |
| ] |
| } |
| ] |
