[ { "task_description": "Prepare for a relaxing bath.", "scan_id": "ARKitScenes_41098066", "action_steps": [ { "action_id": null, "action": "1. Walk to the bathtub behind the toilet.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the faucet of the bathtub.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wait for the bathtub to fill up with warm water.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Turn off the faucet once it is full.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Watch a cooking show on TV.", "scan_id": "ARKitScenes_47204795", "action_steps": [ { "action_id": null, "action": "1. Walk to the white cabinet with glass doors and a TV inside.", "label": "cabinet", "target_id": "8", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "10", "anchor_object": "tv", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Turn on the black, flat screen TV.", "label": "tv", "target_id": "10", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Sit on the black leather swivel chair nearby.", "label": "chair", "target_id": "16", "target_object": "chair", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Enjoy watching the cooking show.", "label": "tv", "target_id": "16", "target_object": "chair", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Turn off the TV after finishing.", "label": "tv", "target_id": "10", "target_object": "tv", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_41098066", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet near the bathtub.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Use the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Flush the toilet after use.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Inspect the bed for cleaning.", "scan_id": "ARKitScenes_42899020", "action_steps": [ { "action_id": null, "action": "1. Approach the dark brown, leather king size bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Check the rough texture of the bed for any dust or stains.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Dust off the bed if needed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the toilet.", "scan_id": "ARKitScenes_47429688", "action_steps": [ { "action_id": null, "action": "1. Walk to the white toilet with a green seat.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Scrub the inside with a toilet brush.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Flush the toilet to rinse it.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet in the bathroom.", "scan_id": "ARKitScenes_47115258", "action_steps": [ { "action_id": null, "action": "1. Walk to the white toilet with the white seat.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the seat cover of the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Put the seat cover down.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the restroom before sleeping.", "scan_id": "ARKitScenes_41126728", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet to the left of the bed.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Use the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Head to the sink.", "label": "sink", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Wash your hands here.", "label": "sink", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Return to the bed.", "label": "bed", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Lie down and relax.", "label": "bed", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Take a relaxing bath.", "scan_id": "ARKitScenes_47430839", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, spherical bathtub in the bathroom.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the faucet at the bathtub.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wait for the desired water level to be reached in the bathtub.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Turn off the faucet at the bathtub.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Get into the bathtub to enjoy a nice bath.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Change the toilet paper.", "scan_id": "ARKitScenes_42899060", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white toilet where a roll of toilet paper is nearby.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Check your appearance in the mirror.", "scan_id": "ARKitScenes_48018711", "action_steps": [ { "action_id": null, "action": "1. Approach the white wooden cabinet with the mirror in the kitchen.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Adjust your clothing or hair as needed, using the mirror for guidance.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Wash your hands.", "scan_id": "ARKitScenes_41069100", "action_steps": [ { "action_id": 1, "action": "1. Go to the sink.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Turn on the water faucet at the sink.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Wash your hands thoroughly under the running water.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Turn off the faucet.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize stored items in the kitchen cabinet.", "scan_id": "ARKitScenes_48018921", "action_steps": [ { "action_id": 1, "action": "1. Approach the gray wooden cabinet with a mirror opposite the stool.", "label": "cabinet", "target_id": "13", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "30", "anchor_object": "stool", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Open the cabinet doors.", "label": "cabinet", "target_id": "13", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Arrange remaining kitchen items neatly inside the cabinet.", "label": "cabinet", "target_id": "13", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Return any non-kitchen items to their respective places.", "label": "cabinet", "target_id": "13", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Check and clean the bathroom sink.", "scan_id": "ARKitScenes_41159823", "action_steps": [ { "action_id": null, "action": "1. Walk to the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Inspect the sink for any visible dirt or residue.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Clean the sink with a sponge and cleaner (assuming these are available).", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Rinse the sink with water from its faucet.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Dry the sink with a towel (assuming a towel is present).", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Tidy up the sleeping area.", "scan_id": "ARKitScenes_47430060", "action_steps": [ { "action_id": null, "action": "1. Go to the king size bed that's to the left of a cabinet.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Straighten the sheets and arrange the pillows neatly on this bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the cabinet that's in the 3 o'clock direction from the bed.", "label": "cabinet", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Organize any items on top of this cabinet, such as books or glasses.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Dust the surface of the cabinet to keep the area clean.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Brush your teeth.", "scan_id": "ARKitScenes_47204876", "action_steps": [ { "action_id": null, "action": "1. Approach the white bathroom cabinet with a stainless steel mirror.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open the cabinet and take out your toothbrush and toothpaste.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Close the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Move to the sink directly below it.", "label": "sink", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Squeeze toothpaste onto the toothbrush.", "label": "sink", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Brush your teeth over the sink.", "label": "sink", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "7. Rinse your mouth and wash the brush in the sink.", "label": "sink", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "8. Put the toothbrush and toothpaste back in the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize your toiletries.", "scan_id": "ARKitScenes_47430805", "action_steps": [ { "action_id": 1, "action": "1. Go to the white wooden cabinet with a yellow door and a red stripe.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open it.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Walk to the brown, wooden storage cabinet with a mirror on its front.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 5, "action": "5. Open it.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 6, "action": "6. Arrange any additional items inside.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 7, "action": "7. Close the cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Move the chair to create more space.", "scan_id": "ARKitScenes_47334080", "action_steps": [ { "action_id": null, "action": "1. Approach the black leather desk chair.", "label": "chair", "target_id": "1", "target_object": "chair", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Fold it up using its folding design.", "label": "chair", "target_id": "1", "target_object": "chair", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Lift and move the chair to another corner of the room away from the bed.", "label": "chair", "target_id": "1", "target_object": "chair", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Evaluate the newly created space to see if it feels more open.", "label": "bed", "target_id": "1", "target_object": "chair", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Return to tidy up the bed if necessary after moving the chair.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Evening relax session in bed.", "scan_id": "ARKitScenes_42898068", "action_steps": [ { "action_id": 1, "action": "1. Go to the king size bed in the room.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Sit comfortably on the bed and adjust the pillows.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Turn on the TV for some ambient evening entertainment.", "label": "tv", "target_id": "2", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Adjust the TV's sound settings for a soft, relaxing volume.", "label": "tv", "target_id": "2", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": 5, "action": "5. Lay back and enjoy the atmosphere.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Retrieve an item from the cabinet.", "scan_id": "ARKitScenes_47431118", "action_steps": [ { "action_id": null, "action": "1. Go to the white cube-shaped wooden shelf.", "label": "shelf", "target_id": "1", "target_object": "shelf", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Move behind the cabinet, far from the shelf.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "shelf", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "3. Open the cabinet door.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Take the desired item from the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Close the cabinet door.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize items in the cabinet.", "scan_id": "ARKitScenes_48458311", "action_steps": [ { "action_id": null, "action": "1. Go to the wooden oblong-shaped cabinet with drawers and a glass top.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open the top drawer of the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Neatly place small items into the drawer.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close this drawer.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Open the next drawer and organize it likewise.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Close it and step back to inspect your work.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Inspect the guest room for necessary repairs.", "scan_id": "ARKitScenes_42445438", "action_steps": [ { "action_id": null, "action": "1. Start at the white king-size bed near the tall, black cabinet.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Inspect the bed’s wicker or wood structure for damage or wear.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Check the softness and condition of the bed’s linen texture.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Move over to the tall, black wooden cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Examine the cabinet’s black door for any faulty hinges or scratches.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Review the cabinet's interior and exterior for any issues needing repair.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "7. Note all necessary repairs to maintain the room’s usability.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Check for old items on the shelf.", "scan_id": "ARKitScenes_47431118", "action_steps": [ { "action_id": null, "action": "1. Move to the white wooden shelf behind the cabinet.", "label": "shelf", "target_id": "1", "target_object": "shelf", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Examine items stored on the shelf one by one.", "label": "shelf", "target_id": "1", "target_object": "shelf", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Remove any items that are no longer needed.", "label": "shelf", "target_id": "1", "target_object": "shelf", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. If needed, place them in the cabinet far in the 12 o'clock direction.", "label": "cabinet", "target_id": "1", "target_object": "shelf", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ] } ] }, { "task_description": "Check the appearance in the mirror.", "scan_id": "ARKitScenes_47669911", "action_steps": [ { "action_id": null, "action": "1. Stand in front of the cabinet to the right of the toilet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Look into the mirror on the cabinet door.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Close the mirror after finishing.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Check your appearance in the mirror.", "scan_id": "ARKitScenes_47334896", "action_steps": [ { "action_id": 1, "action": "1. Walk to the bathroom cabinet with a mirror in the 6 o'clock direction far from the washing machine.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "washing machine", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Open the cabinet if needed.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Load the dishwasher after dinner.", "scan_id": "ARKitScenes_42898141", "action_steps": [ { "action_id": null, "action": "1. Gather dirty dishes from the wooden dining table near the brown sectional sofa.", "label": "table", "target_id": "11", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "15", "anchor_object": "table", "anchor_type": "explicit" }, { "anchor_id": "18", "anchor_object": "sofa", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Walk to the white, stainless steel dishwasher next to the white kitchen cabinet.", "label": "dishwasher", "target_id": "8", "target_object": "dishwasher", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "3. Place the dirty dishes inside it.", "label": "dishwasher", "target_id": "11", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "8", "anchor_object": "dishwasher", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Add detergent to the dishwasher.", "label": "dishwasher", "target_id": "11", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "8", "anchor_object": "dishwasher", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Start the dishwasher.", "label": "dishwasher", "target_id": "8", "target_object": "dishwasher", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare daily clothes.", "scan_id": "ARKitScenes_41127005", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet at the 3 o'clock direction far from the other cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open it and choose an outfit for tomorrow.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Lay the outfit on the bed behind the cabinet.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" } ] }, { "task_description": "Use the bathroom facilities.", "scan_id": "ARKitScenes_41165734", "action_steps": [ { "action_id": 1, "action": "1. Walk to the toilet next to the bed.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Use the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Walk over to the sink.", "label": "sink", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": 4, "action": "4. Wash your hands in the sink.", "label": "sink", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "sink", "anchor_type": "explicit" } ] } ] }, { "task_description": "Organize kitchen appliances.", "scan_id": "ARKitScenes_42898141", "action_steps": [ { "action_id": null, "action": "1. Go to the white refrigerator with a wood texture.", "label": "refrigerator", "target_id": "2", "target_object": "refrigerator", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Take out any items that do not need to be refrigerated.", "label": "refrigerator", "target_id": "2", "target_object": "refrigerator", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Proceed to the brown, oblong-shaped wooden cabinet in the kitchen.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "4. Store these items in this cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the area around the dressing table.", "scan_id": "ARKitScenes_45261399", "action_steps": [ { "action_id": null, "action": "1. Go to the grey, oblong-shaped dressing table.", "label": "table", "target_id": "1", "target_object": "table", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Wipe the surface of the dressing table clean.", "label": "table", "target_id": "1", "target_object": "table", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Move to the blue velvet chair at the 2 o'clock direction near the table.", "label": "chair", "target_id": "1", "target_object": "table", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "chair", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Clean the seat and frame of the chair.", "label": "chair", "target_id": "2", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize your bedside storage for easy access at night.", "scan_id": "ARKitScenes_42444891", "action_steps": [ { "action_id": 1, "action": "1. Go to the white bedside table close to the bed with two drawers.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Open both drawers.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Place any other random items in the other drawer for storage.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Close the drawers of the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_42899060", "action_steps": [ { "action_id": null, "action": "1. Walk to the white toilet used for personal hygiene.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Use the toilet for waste disposal.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Rearrange the furniture slightly to refresh the space.", "scan_id": "ARKitScenes_45261399", "action_steps": [ { "action_id": null, "action": "1. Move the blue velvet chair from near the grey dressing table to another spot in the room.", "label": "chair", "target_id": "2", "target_object": "chair", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "2. Shift the grey dressing table slightly to the right to adjust its position.", "label": "table", "target_id": "1", "target_object": "table", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare to bake cookies.", "scan_id": "ARKitScenes_42446446", "action_steps": [ { "action_id": null, "action": "1. Go to the tall green wooden cabinet with a Christmas tree decoration.", "label": "cabinet", "target_id": "27", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Take out the cookie dough and baking accessories stored here.", "label": "cabinet", "target_id": "3", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "27", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Place these items next to the black, stainless steel, gas oven with four burners.", "label": "oven", "target_id": "3", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "10", "anchor_object": "oven", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Preheat the oven as needed for baking cookies.", "label": "oven", "target_id": "10", "target_object": "oven", "target_changed": false, "anchors": [] } ] }, { "task_description": "Retrieve toiletries from the bathroom.", "scan_id": "ARKitScenes_44358576", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white toilet with the checkered floor.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open the storage area of the toilet to access toiletries.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the storage area of the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Check the toilet for any repairs needed.", "scan_id": "ARKitScenes_47430940", "action_steps": [ { "action_id": null, "action": "1. Walk to the porcelain toilet in the small bathroom.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Check the flush handle to ensure it operates smoothly.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Inspect the toilet seat and lid for any cracks.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Look around the base of the toilet to see if there are any leaks.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize items in the guest room.", "scan_id": "ARKitScenes_42445438", "action_steps": [ { "action_id": null, "action": "1. Walk to the tall, black wooden cabinet behind the bed.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the black door of the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Organize various items inside the white interior of the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the black door after organizing.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Check the area around the white king-size bed for any misplaced items.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Place any loose items in their appropriate places or back inside the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "7. Ensure the room looks tidy and clean.", "label": "bed", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Organize the items inside the cabinet.", "scan_id": "ARKitScenes_42897681", "action_steps": [ { "action_id": null, "action": "1. Head to the beige cabinet next to the wooden bed.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open it if it's not already open.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Start by taking out all items from the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Sort items into categories (like clothing, medications, etc.).", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Place back the items neatly, categorizing them as you go.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Retrieve an item from under the sink.", "scan_id": "ARKitScenes_42899526", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet supporting the sink.", "label": "cabinet", "target_id": "4", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open the door of the black stainless steel cabinet.", "label": "cabinet", "target_id": "4", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Take out the item stored under the sink.", "label": "cabinet", "target_id": "6", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "4. Close the door of the cabinet after retrieving the item.", "label": "cabinet", "target_id": "4", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Take a relaxing bath.", "scan_id": "ARKitScenes_42898447", "action_steps": [ { "action_id": null, "action": "1. Walk to the white bathtub made of plastic.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the water to fill this bathtub.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Turn off the water when the bathtub is full.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Slip into the bathtub for a bath.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare for the day.", "scan_id": "ARKitScenes_47430805", "action_steps": [ { "action_id": null, "action": "1. Go to the brown, wooden storage cabinet with a mirror.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open it and choose an outfit for the day.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Close the cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Walk over to the white spherical bathtub.", "label": "bathtub", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bathtub", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Take a quick shower or bath to freshen up.", "label": "bathtub", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Take a relaxing bath.", "scan_id": "ARKitScenes_47330996", "action_steps": [ { "action_id": null, "action": "1. Go to the white, plastic, rectangular-shaped bathtub with a pink owl pattern.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the water using the knob on the bathtub.", "label": "bathtub", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bathtub", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Adjust the water temperature to your preference.", "label": "bathtub", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "4. Wait for the bathtub to fill up with water.", "label": "bathtub", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bathtub", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Once filled, turn off the water.", "label": "bathtub", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Get into the bathtub and relax.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Watch television in the living room.", "scan_id": "ARKitScenes_42446117", "action_steps": [ { "action_id": null, "action": "1. Go to the flat screen TV which is wall-mounted and crafted from stainless steel.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the TV to find a good channel or show.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the grey leather sectional sofa which is close to the wall.", "label": "sofa", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "6", "anchor_object": "sofa", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Sit on the sofa to enjoy the show.", "label": "sofa", "target_id": "6", "target_object": "sofa", "target_changed": false, "anchors": [] } ] }, { "task_description": "Take a relaxing bath.", "scan_id": "ARKitScenes_45260892", "action_steps": [ { "action_id": null, "action": "1. Go to the white, spherical plastic bathtub in the bathroom.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the hot water using its faucet.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wait for the bathtub to fill with water.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Check the water temperature by touching it.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Once the desired temperature is reached, turn off the faucet.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Slowly get into the bathtub to start bathing.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Relax by reading a book in bed.", "scan_id": "ARKitScenes_42899020", "action_steps": [ { "action_id": null, "action": "1. Head to the bed crafted to resemble an elephant.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Sit comfortably against the head of the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Begin reading your book.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the bathroom toilet.", "scan_id": "ARKitScenes_47669911", "action_steps": [ { "action_id": null, "action": "1. Go to the white porcelain toilet far from the white cabinet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Use the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Flush after using it.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Create a relaxing night ambiance.", "scan_id": "ARKitScenes_42899828", "action_steps": [ { "action_id": 1, "action": "1. Start at the fireplace with a mantle.", "label": "fireplace", "target_id": "1", "target_object": "fireplace", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Light a few candles placed on the mantle for a cozy ambiance.", "label": "fireplace", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "fireplace", "anchor_type": "explicit" } ] }, { "action_id": 3, "action": "3. Pick some aromatic essential oils from there.", "label": "shelf", "target_id": "2", "target_object": "object", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Place them around the fireplace to enhance the soothing atmosphere.", "label": "fireplace", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "fireplace", "anchor_type": "explicit" } ] }, { "action_id": 5, "action": "5. Return to the middle portion of the bed near the cabinets.", "label": "bed", "target_id": "3", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "5", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": 6, "action": "6. Sit down and enjoy the calming environment.", "label": "bed", "target_id": "3", "target_object": "object", "target_changed": true, "anchors": [] } ] }, { "task_description": "Prepare the bathroom for guests.", "scan_id": "ARKitScenes_41069100", "action_steps": [ { "action_id": null, "action": "1. Walk to the sink.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Wipe down the sink with a cleaning cloth (assume the presence).", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Go to the toilet.", "label": "toilet", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "toilet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Clean the toilet with a toilet brush (assume the presence).", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Check the bathtub to ensure it's clean and tidy.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Get ready for bed in the bathroom.", "scan_id": "ARKitScenes_48018591", "action_steps": [ { "action_id": null, "action": "1. Approach the white oblong cabinet lower than the sink.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "sink", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the cabinet to retrieve toiletries such as toothpaste and a toothbrush.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Brush teeth at the sink above the cabinet.", "label": "sink", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Store the toiletries back in the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Walk to the white corner bathroom cabinet.", "label": "cabinet", "target_id": "5", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Open the mirror on the cabinet to expose facial creams.", "label": "cabinet", "target_id": "5", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "7. Apply the facial creams as part of the nighttime routine.", "label": "cabinet", "target_id": "5", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "8. Close the mirror on the cabinet.", "label": "cabinet", "target_id": "5", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the bathtub.", "scan_id": "ARKitScenes_41159823", "action_steps": [ { "action_id": null, "action": "1. Go to the bathtub near the toilet.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Rinse the bathtub with water from its faucet.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Scrub the bathtub with soap (assuming soap is present).", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Rinse off the soap with water from the faucet.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Dry the bathtub with a towel (assuming a towel is available).", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Take a bath.", "scan_id": "ARKitScenes_41159823", "action_steps": [ { "action_id": 1, "action": "1. Walk to the bathtub positioned near the toilet.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Turn on the faucet of the bathtub.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Wait until the bathtub is filled with water.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Get into the bathtub.", "label": "bathtub", "target_id": "3", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare for the day by grooming at the dressing table.", "scan_id": "ARKitScenes_45261399", "action_steps": [ { "action_id": null, "action": "1. Walk to the grey, oblong-shaped dressing table with a mirror on it.", "label": "table", "target_id": "1", "target_object": "table", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Sit on the blue velvet chair near the table in a 2 o'clock direction.", "label": "chair", "target_id": "2", "target_object": "chair", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "table", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "3. Use the mirror on the table for personal grooming.", "label": "table", "target_id": "1", "target_object": "table", "target_changed": false, "anchors": [] } ] }, { "task_description": "Inspect the furniture for any needed repairs or adjustments.", "scan_id": "ARKitScenes_45261399", "action_steps": [ { "action_id": null, "action": "1. Examine the grey dressing table for any scratches or damages.", "label": "table", "target_id": "1", "target_object": "table", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Check the stability and condition of the blue velvet chair.", "label": "chair", "target_id": "2", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Nighttime reading.", "scan_id": "ARKitScenes_41127005", "action_steps": [ { "action_id": null, "action": "1. Go to the cabinet to the left of the other cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open it and pick a book.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Return to the bed behind the cabinet and sit comfortably.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Start reading the book.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Prepare for a nap in the guest room.", "scan_id": "ARKitScenes_42898068", "action_steps": [ { "action_id": null, "action": "1. Walk to the king size bed designated for guests.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Pull the silky sheets back to make the bed inviting.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Fluff the pillows and arrange them neatly at the head of the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Lay down on the bed to test the comfort level.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Adjust the TV's position from the wall mounted setup for optimal viewing from the bed if needed.", "label": "tv", "target_id": "2", "target_object": "tv", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Set the sleep timer on the TV to turn off after an hour.", "label": "tv", "target_id": "2", "target_object": "tv", "target_changed": false, "anchors": [] } ] }, { "task_description": "Place fresh towels in the bedroom.", "scan_id": "ARKitScenes_43896396", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white wooden cabinet used for organizing clothes.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open one of the doors of the cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the cabinet door.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_42898094", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, oblong toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet for personal needs.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Put the lid down.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Rearrange the furniture slightly.", "scan_id": "ARKitScenes_48018203", "action_steps": [ { "action_id": null, "action": "1. Stand at the sofa positioned in front of both the cabinet and the chair.", "label": "sofa", "target_id": "1", "target_object": "sofa", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" }, { "anchor_id": "3", "anchor_object": "chair", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Push the sofa slightly to adjust its position for better room layout.", "label": "sofa", "target_id": "1", "target_object": "sofa", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Move to the chair aligned with the cabinet.", "label": "chair", "target_id": "1", "target_object": "sofa", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "chair", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Adjust the chair’s position to better align with the newly positioned sofa.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "sofa", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "5. Walk back and view the new arrangement from the sofa’s position.", "label": "sofa", "target_id": "3", "target_object": "chair", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "sofa", "anchor_type": "explicit" } ] } ] }, { "task_description": "Wash your hands in the sink.", "scan_id": "ARKitScenes_47115258", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white oblong-shaped sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Turn on the faucet on top of the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Wash your hands under the water.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Shut off the faucet.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Using the toilet.", "scan_id": "ARKitScenes_41125303", "action_steps": [ { "action_id": null, "action": "1. Approach the toilet near the cabinet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet as needed.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Flush the toilet after use.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Cook a simple meal using the kitchen stove.", "scan_id": "ARKitScenes_42446117", "action_steps": [ { "action_id": null, "action": "1. Go to the black, stainless steel gas stove in the kitchen.", "label": "stove", "target_id": "22", "target_object": "stove", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn the stove on to heat a pan.", "label": "stove", "target_id": "22", "target_object": "stove", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the white kitchen cabinet with a mirror on it and a lot of items inside.", "label": "cabinet", "target_id": "22", "target_object": "stove", "target_changed": true, "anchors": [ { "anchor_id": "16", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Take out ingredients and a cooking utensil from the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "16", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Return to the stove and place the ingredients in the pan to cook.", "label": "stove", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "22", "anchor_object": "stove", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Cook the meal to your liking.", "label": "stove", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "22", "anchor_object": "stove", "anchor_type": "explicit" } ] } ] }, { "task_description": "Clean the toilet.", "scan_id": "ARKitScenes_47430940", "action_steps": [ { "action_id": null, "action": "1. Approach the glossy, white toilet in the bathroom.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the seat cover of the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wipe the seat using a cleaning wipe.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Flush the toilet to rinse it off after cleaning.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Place the seat cover back down.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Inspect the condition of the cabinet.", "scan_id": "ARKitScenes_48018711", "action_steps": [ { "action_id": null, "action": "1. Approach the white wooden cabinet in the kitchen.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open the cabinet door to examine the interior and shelves.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Check the exterior, including the wooden texture and the mirror for any damages or wear.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the cabinet door after inspection.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_41159823", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet located behind the bathtub.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Use the toilet for your needs.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Flush the toilet after use.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Freshen up before evening.", "scan_id": "ARKitScenes_47332297", "action_steps": [ { "action_id": null, "action": "1. Walk to the white porcelain toilet with a blackmail poster on the seat.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Use the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Proceed to the white porcelain sink with a faucet for washing hands.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Open the faucet.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Wash hands under the running water.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Close the faucet after washing hands.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize bathroom supplies.", "scan_id": "ARKitScenes_42445884", "action_steps": [ { "action_id": null, "action": "1. Go to the white stainless steel double bowl sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Pick up any items scattered around on the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the white storage cabinet.", "label": "cabinet", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Open the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Store the items inside the cabinet neatly.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Close the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Enjoy a snack while watching a show on the black flat screen TV.", "scan_id": "ARKitScenes_42445500", "action_steps": [ { "action_id": null, "action": "1. Walk to the white wooden kitchen cabinet with a glass door and wooden interior.", "label": "cabinet", "target_id": "15", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Retrieve a snack from it.", "label": "cabinet", "target_id": "34", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "15", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Walk to the oblong-shaped white cabinet with a TV in it.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "9", "anchor_object": "tv", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "4. Turn on the black flat screen TV to watch a show.", "label": "tv", "target_id": "9", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Walk to the brown leather sofa that is used as a bed.", "label": "sofa", "target_id": "1", "target_object": "sofa", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Sit here and enjoy your snack while watching the TV.", "label": "sofa", "target_id": "1", "target_object": "sofa", "target_changed": false, "anchors": [] } ] }, { "task_description": "Enjoy a cozy evening by the fireplace.", "scan_id": "ARKitScenes_45260938", "action_steps": [ { "action_id": null, "action": "1. Walk to the purple, wooden, or leather daybed.", "label": "sofa", "target_id": "1", "target_object": "sofa", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lie down to relax.", "label": "sofa", "target_id": "1", "target_object": "sofa", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Reach for the remote placed probably nearby.", "label": "tv", "target_id": "9", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "5", "anchor_object": "sofa", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Turn on the TV to watch your favorite show.", "label": "tv", "target_id": "8", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Enjoy the warmth and view of the beige stone fireplace nearby.", "label": "fireplace", "target_id": "4", "target_object": "fireplace", "target_changed": false, "anchors": [] } ] }, { "task_description": "Teach a child to use the bathroom.", "scan_id": "ARKitScenes_45261072", "action_steps": [ { "action_id": null, "action": "1. Lead the child to the white oblong toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Help the child use the toilet safely for waste disposal.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Guide the child to the white stainless steel sink.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Show how to turn on the faucet and wash hands.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Assist the child in drying hands after washing.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Check bathroom supplies.", "scan_id": "ARKitScenes_42899060", "action_steps": [ { "action_id": null, "action": "1. Walk to the white sink where supplies might be stored underneath.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Inspect and organize supplies like hand soap, and tissue.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Retrieve a book from a cabinet and read it on the bed", "scan_id": "ARKitScenes_41098110", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet aligned with another and in front of the stool.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "5", "anchor_object": "stool", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open it and take out a book.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Close the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Go to the bed situated beside another cabinet.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Sit on the bed.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Open the book and start reading.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Prepare a meal using the oven.", "scan_id": "ARKitScenes_47330996", "action_steps": [ { "action_id": null, "action": "1. Walk to the oven near an array of cabinets.", "label": "oven", "target_id": "17", "target_object": "oven", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Turn on the oven and preheat to the desired temperature.", "label": "oven", "target_id": "17", "target_object": "oven", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Prepare your meal for baking or cooking if not already done.", "label": "table", "target_id": "17", "target_object": "oven", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "4. Place the meal inside the oven.", "label": "oven", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "17", "anchor_object": "oven", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Set a timer for the cooking duration.", "label": "oven", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Once cooking is complete, turn off the oven and remove the meal.", "label": "oven", "target_id": "20", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "17", "anchor_object": "oven", "anchor_type": "explicit" } ] } ] }, { "task_description": "Store kitchen utensils in the cabinet.", "scan_id": "ARKitScenes_48018711", "action_steps": [ { "action_id": 1, "action": "1. Walk to the kitchen where the white wooden cabinet is located.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open the door of the white wooden cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the cabinet door to secure the utensils.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Go upstairs to the second floor.", "scan_id": "ARKitScenes_43896396", "action_steps": [ { "action_id": null, "action": "1. Walk to the white wooden stairs near the entrance.", "label": "stairs", "target_id": "6", "target_object": "stairs", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Step on the first stair and ascend the stairs.", "label": "stairs", "target_id": "6", "target_object": "stairs", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Reach the top of the stairs.", "label": "stairs", "target_id": "6", "target_object": "stairs", "target_changed": false, "anchors": [] } ] }, { "task_description": "Transform the bunk bed into a futon for sitting.", "scan_id": "ARKitScenes_42445100", "action_steps": [ { "action_id": 1, "action": "1. Go to the white wooden bunk bed on the left.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Remove the bedding from it.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Adjust the frame to transform it into a futon shape.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Enjoy a movie night.", "scan_id": "ARKitScenes_43896477", "action_steps": [ { "action_id": null, "action": "1. Turn on the flat-screen black TV.", "label": "tv", "target_id": "8", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Pick a movie from the electronic guide (assuming a remote control is present) or from a connected device.", "label": "tv", "target_id": "8", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Move the sectional white leather sofa bed so it faces the TV for an optimal viewing angle.", "label": "sofa", "target_id": "10", "target_object": "sofa", "target_changed": false, "anchors": [ { "anchor_id": "8", "anchor_object": "tv", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Sit or lie down on the sectional white leather sofa bed to watch the selected movie.", "label": "sofa", "target_id": "10", "target_object": "sofa", "target_changed": false, "anchors": [] } ] }, { "task_description": "Wash your hands.", "scan_id": "ARKitScenes_45260892", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white porcelain sink in the bathroom.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Turn on the cold water faucet.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Wet your hands under the running water.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Turn off the faucet once your hands are wet.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 5, "action": "5. Soap your hands thoroughly.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 6, "action": "6. Turn on the faucet again to rinse the soap off your hands.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 7, "action": "7. Turn off the faucet after rinsing your hands.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare to wash your hands.", "scan_id": "ARKitScenes_42899362", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet made of wood.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open it to get some soap.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Go to the stainless steel sink.", "label": "sink", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Place the soap here.", "label": "sink", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "sink", "anchor_type": "explicit" } ] } ] }, { "task_description": "Freshen up quickly after a workout.", "scan_id": "ARKitScenes_47430690", "action_steps": [ { "action_id": null, "action": "1. Head towards the white sink in the bathroom.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Wash your face using the white faucet at the sink.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the white bathtub with the pink bucket.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Use water from the bathtub to rinse your arms and legs.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Finally, visit the toilet to the right of the bathtub for a quick toilet break.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" } ] }, { "task_description": "Use the bathroom facilities.", "scan_id": "ARKitScenes_45261072", "action_steps": [ { "action_id": 1, "action": "1. Go to the ceramic or porcelain toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Use it for human waste disposal.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Go to the stainless steel sink in the bathroom.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": 4, "action": "4. Wash your hands with the faucet on this sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize belongings in the cabinets.", "scan_id": "ARKitScenes_41127098", "action_steps": [ { "action_id": null, "action": "1. Go to the cabinet to the right of another cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open it.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Take out all items from this cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Dust each item before placing it on the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. After cleaning, return the items to their appropriate places in the cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Close this cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the bathtub.", "scan_id": "ARKitScenes_42899260", "action_steps": [ { "action_id": 1, "action": "1. Go to the spherical bathtub with a gold trim.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Use a suitable cleaner (assuming one is nearby) to scrub the white surface.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Rinse the bathtub using the shower.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Dry the surface with a towel (assuming a towel is available).", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Wash and replace toiletries.", "scan_id": "ARKitScenes_47669911", "action_steps": [ { "action_id": 1, "action": "1. Walk to the wall-mounted cabinet next to the toilet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Open the cabinet and take out all toiletries.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Wipe down the shelves inside the cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Close the cabinet door.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Enjoy rocking relaxation.", "scan_id": "ARKitScenes_47332297", "action_steps": [ { "action_id": null, "action": "1. Go to the white leather rocking chair at the 7 o'clock direction far from the toilet.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Sit in the rocking chair.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Begin to gently rock back and forth.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Conduct a quick bathroom cleanup.", "scan_id": "ARKitScenes_45261072", "action_steps": [ { "action_id": null, "action": "1. Start by flushing the ceramic or porcelain toilet after use.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Go to the stainless steel sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "3. Wipe down the surfaces of the sink with a disinfectant wipe.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Clean around the faucet to remove any soap or water spots.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Use the faucet to rinse any cleaner from the basin of the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare to use the toilet.", "scan_id": "ARKitScenes_42898447", "action_steps": [ { "action_id": null, "action": "1. Go to the white toilet with a blue seat cover.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet for personal hygiene.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Flush the toilet after use.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Collect items front storage.", "scan_id": "ARKitScenes_42899828", "action_steps": [ { "action_id": null, "action": "1. Approach the bed that is adjacent to multiple cabinets.", "label": "bed", "target_id": "5", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "4", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Retrieve the blanket and pillow stored underneath the bed.", "label": "bed", "target_id": "5", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the cabinet behind another cabinet.", "label": "cabinet", "target_id": "8", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Store the blanket and pillow inside this cabinet.", "label": "cabinet", "target_id": "8", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Close the cabinet after storing items.", "label": "cabinet", "target_id": "8", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare a simple breakfast.", "scan_id": "ARKitScenes_43828486", "action_steps": [ { "action_id": null, "action": "1. Walk over to the refrigerator to get the ingredients.", "label": "refrigerator", "target_id": "15", "target_object": "refrigerator", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Take out items such as eggs and milk from the refrigerator.", "label": "refrigerator", "target_id": "15", "target_object": "refrigerator", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the dark brown, wooden dining table to set down the ingredients.", "label": "table", "target_id": "15", "target_object": "refrigerator", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Grab plates from one of the white cabinets nearby.", "label": "cabinet", "target_id": "9", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Place the plates on the dark brown, wooden dining table.", "label": "table", "target_id": "9", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Go to another white cabinet to fetch a frying pan.", "label": "cabinet", "target_id": "17", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "7. Return to the kitchen island table and prepare the meal.", "label": "table", "target_id": "22", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "23", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "8. Sit at the dark brown, wooden dining table to enjoy the meal.", "label": "table", "target_id": "9", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "table", "anchor_type": "explicit" } ] } ] }, { "task_description": "Middle-of-the-night restroom trip.", "scan_id": "ARKitScenes_41126728", "action_steps": [ { "action_id": null, "action": "1. Rise from the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Walk to the toilet on the left side.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "3. Use this toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Head back to the sink.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Wash your hands at the sink.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Return to the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "7. Get back into the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_43896491", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, oblong toilet next to the bathtub.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Raise the seat of the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet as needed.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Lower the seat once finished.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet using the handle.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize clothes into the dresser.", "scan_id": "ARKitScenes_43896396", "action_steps": [ { "action_id": 1, "action": "1. Walk to the grey oblong cabinet with blue knobs.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open the top drawer of the dresser.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the drawer.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean and organize the bathroom.", "scan_id": "ARKitScenes_45261548", "action_steps": [ { "action_id": 1, "action": "1. Walk to the cabinet in the bathroom.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open its drawer and take out cleaning supplies.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the drawer.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Clean the surface of the sink using the supplies.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 5, "action": "5. Close the drawer.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_42899780", "action_steps": [ { "action_id": null, "action": "1. Walk to the white toilet with a seat.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet for urination.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Put down the toilet lid.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet using the flush mechanism.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Check the bathroom before leaving.", "scan_id": "ARKitScenes_41098066", "action_steps": [ { "action_id": null, "action": "1. Ensure the faucet of the sink is turned off.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Check if the toilet has been flushed.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Verify the bathtub faucet is also turned off.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Wash your hands.", "scan_id": "ARKitScenes_45261665", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white porcelain sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Use the soap dispenser attached to the sink to get some soap.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Turn on the white faucet of the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Wash your hands under the running water.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 5, "action": "5. Turn off the faucet once you are done.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the sleeping and work area.", "scan_id": "ARKitScenes_47334080", "action_steps": [ { "action_id": null, "action": "1. Start by straightening the checkered double bed.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Pluck and shake out the bed sheets.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Dust off the desk chair with a dry cloth from another room.", "label": "chair", "target_id": "1", "target_object": "chair", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Clean the TV screen with a suitable electronic cleaner.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Arrange any scattered items neatly on the bed or on the chair.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "chair", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" } ] }, { "task_description": "Wash hands after using the toilet.", "scan_id": "ARKitScenes_43896491", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, stainless steel, rectangular pedestal sink in the bathroom.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the faucet of the sink.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wash hands under the running water.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Turn off the faucet once done.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Reorganize the living room cabinets.", "scan_id": "ARKitScenes_47332545", "action_steps": [ { "action_id": null, "action": "1. Go to the dining room cabinet with glass doors and wooden texture.", "label": "cabinet", "target_id": "5", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Take out all items stored inside it.", "label": "cabinet", "target_id": "5", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the brown wooden cabinet with glass doors aligned with another similar cabinet.", "label": "cabinet", "target_id": "4", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Carefully place the items inside this cabinet.", "label": "cabinet", "target_id": "4", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Close the cabinet doors after reorganization.", "label": "cabinet", "target_id": "4", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Adjust the position of the stool.", "scan_id": "ARKitScenes_45662897", "action_steps": [ { "action_id": null, "action": "1. Walk over to the swivel stool with a leather backrest.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Rotate the stool to face the TV directly.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": false, "anchors": [] } ] }, { "task_description": "Inspect for repairs in the bathroom.", "scan_id": "ARKitScenes_44358576", "action_steps": [ { "action_id": null, "action": "1. Check the faucet on the sink for any leaks or drips.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Ensure the sink drain is working properly and clear of any clogs.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Examine the toilet for any irregularities such as leaks or cracks.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Test the flush mechanism of the toilet to ensure proper functioning.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize items into the cabinets", "scan_id": "ARKitScenes_41098110", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet at the 2 o'clock direction near the bed.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open it.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Pick an item from the table next to the stool.", "label": "table", "target_id": "4", "target_object": "table", "target_changed": false, "anchors": [ { "anchor_id": "5", "anchor_object": "stool", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "4. Place the item inside the open cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Walk to the cabinet at the 9 o'clock direction near the bed.", "label": "cabinet", "target_id": "6", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "6. Open this cabinet.", "label": "cabinet", "target_id": "6", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "7. Pick another item from the same table.", "label": "table", "target_id": "4", "target_object": "table", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "8. Place this item inside the open cabinet.", "label": "cabinet", "target_id": "6", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "9. Close the first cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "10. Close the second cabinet.", "label": "cabinet", "target_id": "6", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Take a nap.", "scan_id": "ARKitScenes_42899020", "action_steps": [ { "action_id": 1, "action": "1. Go to the bedroom where the king size bed is located.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Lie down on the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the cabinet and its mirror.", "scan_id": "ARKitScenes_48018711", "action_steps": [ { "action_id": 1, "action": "1. Go to the white wooden cabinet in the kitchen.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Wipe the wooden surfaces of the cabinet including the door.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize the cabinets in the bedroom.", "scan_id": "ARKitScenes_45261495", "action_steps": [ { "action_id": null, "action": "1. Go to the black cabinet at a 3 o'clock direction near the bunk bed.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the drawers of this cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Arrange items neatly inside the drawers.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the drawers after organizing.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Walk to the other cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Sort and store miscellaneous items into this cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize bathroom supplies.", "scan_id": "ARKitScenes_47334896", "action_steps": [ { "action_id": null, "action": "1. Walk to the bathroom cabinet opposite the washing machine.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "washing machine", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the cabinet doors.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Take out all items from it.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Organize the toiletries into categories.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Place them back neatly inside the cabinet.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Close the cabinet doors.", "label": "cabinet", "target_id": "3", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Do laundry.", "scan_id": "ARKitScenes_42899526", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white, oblong washing machine that is a top-loader.", "label": "washing machine", "target_id": "3", "target_object": "washing machine", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open the lid of the washing machine.", "label": "washing machine", "target_id": "3", "target_object": "washing machine", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the lid of the washing machine.", "label": "washing machine", "target_id": "3", "target_object": "washing machine", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Start the washing machine using the control panel.", "label": "washing machine", "target_id": "3", "target_object": "washing machine", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare the bathroom for cleaning.", "scan_id": "ARKitScenes_47429688", "action_steps": [ { "action_id": 1, "action": "1. Walk to the shiny toilet used for urinating.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Close the toilet lid.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Walk to the bathtub next to the toilet.", "label": "bathtub", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bathtub", "anchor_type": "explicit" } ] }, { "action_id": 4, "action": "4. Remove any items from around the bathtub.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize spices in the cabinet.", "scan_id": "ARKitScenes_48018711", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white wooden cabinet located in the kitchen.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open the cabinet's door to access the inside shelves.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the cabinet door after organizing the spices.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Baby's potty training.", "scan_id": "ARKitScenes_47204876", "action_steps": [ { "action_id": null, "action": "1. Walk to the white plastic toilet in the bathroom.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the seat of the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Help your baby sit on the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Wait for the baby to finish.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Help the baby up from the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Put the seat down on the toilet.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_45261548", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet located behind the bathroom cabinet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Sit down to use it for personal hygiene and waste disposal.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Once done, flush it using the handle.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Close the lid of the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Evening wind down meditation.", "scan_id": "ARKitScenes_41127005", "action_steps": [ { "action_id": null, "action": "1. Walk to the bed behind the cabinet.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Sit cross-legged on the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Close your eyes and begin to meditate.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Watch a television show.", "scan_id": "ARKitScenes_48018921", "action_steps": [ { "action_id": null, "action": "1. Walk to the black glass-made flat screen TV.", "label": "tv", "target_id": "9", "target_object": "tv", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Grab the remote from the second shelf of the black cabinet next to the TV.", "label": "cabinet", "target_id": "9", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "12", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Turn on the TV using the remote.", "label": "tv", "target_id": "9", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Place the remote back in the same place in the cabinet.", "label": "cabinet", "target_id": "9", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "12", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Sit on the sofa beside the other sofa to watch your show.", "label": "sofa", "target_id": "10", "target_object": "sofa", "target_changed": true, "anchors": [] } ] }, { "task_description": "Organize items in the bathroom cabinet.", "scan_id": "ARKitScenes_41125303", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet in front of the toilet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the bottom drawer of this cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Arrange the items inside neatly.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the drawer when finished.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Watch a movie with friends in the living area.", "scan_id": "ARKitScenes_45663347", "action_steps": [ { "action_id": 1, "action": "1. Walk to the grey and white stainless steel coffee table.", "label": "table", "target_id": null, "target_object": null, "target_changed": true, "anchors": [ { "anchor_id": "17", "anchor_object": "table", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Turn on the TV placed higher than the marble coffee table near here.", "label": "tv", "target_id": "25", "target_object": "tv", "target_changed": false, "anchors": [ { "anchor_id": "17", "anchor_object": "table", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 3, "action": "3. Walk to the grey leather reclining sofa opposite the TV.", "label": "sofa", "target_id": "25", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "22", "anchor_object": "sofa", "anchor_type": "explicit" } ] }, { "action_id": 4, "action": "4. Sit down comfortably to watch the movie.", "label": "sofa", "target_id": "22", "target_object": "sofa", "target_changed": false, "anchors": [] } ] }, { "task_description": "Wash your hands.", "scan_id": "ARKitScenes_41098066", "action_steps": [ { "action_id": 1, "action": "1. Walk to the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Turn on the faucet of the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Wash your hands under the running water.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Turn the faucet off.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Test the whirlpool function of the bathtub.", "scan_id": "ARKitScenes_47429688", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, rectangular-shaped bathtub.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Fill the bathtub halfway with water.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Turn on the whirlpool function.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Observe the whirlpool function for a few minutes to ensure it works correctly.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Turn off the whirlpool function.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Drain the bathtub.", "label": "bathtub", "target_id": "2", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Set an ambient dinner setting with candles.", "scan_id": "ARKitScenes_48018921", "action_steps": [ { "action_id": null, "action": "1. Reach for the white cabinet below the shelf near the black chairs.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "shelf", "anchor_type": "explicit" }, { "anchor_id": "4", "anchor_object": "chair", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Take out two candles from inside the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Place the candles at both ends of the white rectangular dining table.", "label": "table", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Return to the cabinet to get a lighter.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Light each candle to create a cozy atmosphere.", "label": "table", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Sit at the black chair aligned with the other chairs to enjoy the ambiance.", "label": "chair", "target_id": "5", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare for bedtime hygiene routine.", "scan_id": "ARKitScenes_41125872", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Use the toilet before sleeping.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the sink to brush your teeth.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Brush your teeth at this sink.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Rinse and set the toothbrush back in place near the sink.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] } ] }, { "task_description": "Prepare a quick meal using the stove.", "scan_id": "ARKitScenes_44358176", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white stainless steel camping stove.", "label": "stove", "target_id": "5", "target_object": "stove", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Turn the knob to light it.", "label": "stove", "target_id": "5", "target_object": "stove", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Return to the stove to cook the meal.", "label": "stove", "target_id": "5", "target_object": "stove", "target_changed": true, "anchors": [] }, { "action_id": 4, "action": "4. Once cooked, turn off the stove.", "label": "stove", "target_id": "5", "target_object": "stove", "target_changed": false, "anchors": [] } ] }, { "task_description": "Enjoy a movie night.", "scan_id": "ARKitScenes_47332951", "action_steps": [ { "action_id": null, "action": "1. Walk to the double bed facing the storage cabinet.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lie down on the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Grab the remote from the nightstand beside the bed.", "label": "cabinet", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "4. Turn on the tv that is positioned higher than the bed.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "5. Adjust the volume and settings using the remote.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [] } ] }, { "task_description": "Set up a bedtime viewing scene.", "scan_id": "ARKitScenes_47430060", "action_steps": [ { "action_id": null, "action": "1. Walk to the TV which is elevated above the nearby cabinet.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Turn the TV on to a calming sleep program.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the king size bed next to the cabinet.", "label": "bed", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Fluff up the pillows on this bed for comfort.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Adjust the volume on the TV to be softly audible from the bed using the remote on the cabinet.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" }, { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "6. Lie down and prepare for restful sleep to the sounds of the program.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Test the swivel feature of the stool.", "scan_id": "ARKitScenes_45662897", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, swivel stool attached to the wall.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Sit down on it.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Swivel to the left and then to the right to check its functionality.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_41069100", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet near the bathtub.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Use the toilet for your needs.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Flush the toilet after use.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_47430940", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, oblong-shaped porcelain toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the toilet's lid.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Put the lid down after using it.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the bathtub.", "scan_id": "ARKitScenes_41098066", "action_steps": [ { "action_id": 1, "action": "1. Walk to the bathtub behind the toilet.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Scrub the surface of the bathtub with a brush (assuming there is one available nearby).", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Rinse the bathtub with water from the faucet.", "label": "bathtub", "target_id": "1", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Rearrange the sleeping arrangement for a blue bunk bed.", "scan_id": "ARKitScenes_42445100", "action_steps": [ { "action_id": 1, "action": "1. Walk to the blue triangular-shaped bunk bed near the white bunk bed.", "label": "bed", "target_id": null, "target_object": null, "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Reverse the bed to face the opposite direction.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Redress the bed with the covers properly aligned.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Take a relaxing bath.", "scan_id": "ARKitScenes_48018591", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white rectangular bathtub.", "label": "bathtub", "target_id": "4", "target_object": "bathtub", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Wait until the bathtub is appropriately filled.", "label": "bathtub", "target_id": "4", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Undress and step into the bathtub.", "label": "bathtub", "target_id": "4", "target_object": "bathtub", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Soak and relax in the warm water.", "label": "bathtub", "target_id": "4", "target_object": "bathtub", "target_changed": false, "anchors": [] } ] }, { "task_description": "Rearrange the furniture for better TV viewing.", "scan_id": "ARKitScenes_48458311", "action_steps": [ { "action_id": null, "action": "1. Go to the cabinet used as a television stand.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Carefully move the cabinet with the TV to a new location that allows a better viewing angle.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "tv", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "3. 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Move to the white porcelain sink just beyond the toilet.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "5. Turn on the faucet at the sink.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Wash hands thoroughly under running water.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "7. Turn off the faucet once done.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare for a presentation.", "scan_id": "ARKitScenes_42898360", "action_steps": [ { "action_id": null, "action": "1. Collect stationery supplies from the bottom drawer of the wooden cabinet with a black handle, near the microwave.", "label": "cabinet", "target_id": "15", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "12", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "2. Arrange these supplies neatly on the black and white concrete coffee table in front of the sofa.", "label": "table", "target_id": "15", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "9", "anchor_object": "table", "anchor_type": "explicit" }, { "anchor_id": "7", "anchor_object": "sofa", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "3. Fetch the remote from the shelf beside the cabinet and turn on the sleek, black flat-screen TV above this table.", "label": "shelf", "target_id": "11", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "15", "anchor_object": "shelf", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Choose the appropriate input on the TV for the presentation.", "label": "tv", "target_id": "11", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Ensure all graphical presentations are displayed correctly on the screen.", "label": "tv", "target_id": "11", "target_object": "tv", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize a daily medicine routine.", "scan_id": "ARKitScenes_42898360", "action_steps": [ { "action_id": null, "action": "1. Walk to the white, wooden storage cabinet with two drawers and a mirror on top.", "label": "cabinet", "target_id": "12", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open the top drawer to take out the medicine box.", "label": "cabinet", "target_id": "12", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Sort the necessary medicine into daily doses.", "label": "cabinet", "target_id": "12", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the drawer securely.", "label": "cabinet", "target_id": "12", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Take a nap in the chair.", "scan_id": "ARKitScenes_42898094", "action_steps": [ { "action_id": null, "action": "1. Walk to the white wooden chair hanging from the ceiling.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Sit down comfortably in the chair.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Lean back to relax and nap in a hanging chair.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize the kitchen.", "scan_id": "ARKitScenes_47332467", "action_steps": [ { "action_id": 1, "action": "1. Collect all loose utensils and place them into the stainless steel sink for washing.", "label": "sink", "target_id": "23", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "9", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": 2, "action": "2. Arrange the cleaned utensils back into the cabinet beside the kitchen stove.", "label": "cabinet", "target_id": "23", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "6", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": 3, "action": "3. Check and organize the spices and condiments in the storage spaces of the display cabinet.", "label": "cabinet", "target_id": "23", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": 4, "action": "4. Place any decorative items or small appliances back on their designated spots on the cabinet shelves.", "label": "cabinet", "target_id": "6", "target_object": "cabinet", "target_changed": false, "anchors": [ { "anchor_id": "23", "anchor_object": "shelf", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" } ] }, { "task_description": "Prepare for a nap.", "scan_id": "ARKitScenes_41165734", "action_steps": [ { "action_id": 1, "action": "1. Approach the bed close to the toilet.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Smooth out the bedding on the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Climb onto the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Settle down for a nap.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the toilet.", "scan_id": "ARKitScenes_47115258", "action_steps": [ { "action_id": null, "action": "1. Go to the white, wooden toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the seat cover of the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Scrub the toilet bowl with a cleaner (assuming it's available).", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Lower the toilet seat cover.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet to rinse the cleaner away.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Create a casual viewing area.", "scan_id": "ARKitScenes_45662897", "action_steps": [ { "action_id": null, "action": "1. Walk to the sleek, modern TV.", "label": "tv", "target_id": "1", "target_object": "tv", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Ensure the TV is off.", "label": "tv", "target_id": "1", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the swivel stool.", "label": "stool", "target_id": "1", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "stool", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Move the stool closer to the TV for an optimal viewing distance.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "tv", "anchor_type": "explicit" } ] } ] }, { "task_description": "Routine bathroom cleaning.", "scan_id": "ARKitScenes_42898125", "action_steps": [ { "action_id": 1, "action": "1. Walk to the cabinet with a white color and heart-shaped design.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Wipe the sink on this cabinet with a cleaning cloth. (Note: Assuming there's a cleaning cloth, since the scene graph does not specify one; otherwise, skip this step.)", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": 3, "action": "3. Scrub the toilet located behind the cabinet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ] } ] }, { "task_description": "Prepare to relax and read a book in the bathroom.", "scan_id": "ARKitScenes_47332297", "action_steps": [ { "action_id": null, "action": "1. Walk to the white porcelain toilet with a blackmail poster on the seat.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Close the seat cover of this toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Head to the white leather rocking chair at the 7 o'clock direction far from the toilet.", "label": "chair", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "chair", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Sit on the rocking chair.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Watch a movie on the TV.", "scan_id": "ARKitScenes_45662897", "action_steps": [ { "action_id": null, "action": "1. Walk to the sleek, modern tv on the wall.", "label": "tv", "target_id": "1", "target_object": "tv", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the TV using the remote control (assumed to be kept nearby).", "label": "tv", "target_id": "1", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the white, wooden stool with a leather seat.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "4. Sit on the stool to enjoy a movie.", "label": "stool", "target_id": "2", "target_object": "stool", "target_changed": false, "anchors": [] } ] }, { "task_description": "Clean the bathroom.", "scan_id": "ARKitScenes_41125872", "action_steps": [ { "action_id": null, "action": "1. Go to the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Clean it with some cleaning supplies.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the toilet.", "label": "toilet", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "toilet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Scrub the toilet using appropriate cleaning utensils.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Return to the sink to wash the cleaning materials.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] } ] }, { "task_description": "Pick an outfit for tomorrow.", "scan_id": "ARKitScenes_41127098", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet to the right of another cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open it and browse through the clothes.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Select an outfit for the next day.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close this cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Lay the chosen outfit on the bed next to this cabinet.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" } ] }, { "task_description": "Freshen up in the morning.", "scan_id": "ARKitScenes_41125872", "action_steps": [ { "action_id": null, "action": "1. Go to the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Wash your hands here.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the toilet area.", "label": "toilet", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "toilet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Use the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Return to the sink.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Wash your hands again.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Organize the bed for daytime use.", "scan_id": "ARKitScenes_42898068", "action_steps": [ { "action_id": 1, "action": "1. Approach the beige king size bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Check the firmness of the velvet pillows, rearrange if necessary.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Dust off the headboard and footboard of the bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Walk to the TV.", "label": "tv", "target_id": "2", "target_object": "tv", "target_changed": true, "anchors": [] }, { "action_id": 5, "action": "5. Turn off the TV if it's on.", "label": "tv", "target_id": "2", "target_object": "tv", "target_changed": false, "anchors": [] } ] }, { "task_description": "Morning routine after waking up.", "scan_id": "ARKitScenes_41126728", "action_steps": [ { "action_id": null, "action": "1. Get up from the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Walk over to the sink.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "3. Freshen up by washing your face.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Use the toilet on the left.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Return to the sink.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "7. Brush your teeth here.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "8. Go back to the bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "9. Make the bed to start the day right.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize and clean the central work table.", "scan_id": "ARKitScenes_42446117", "action_steps": [ { "action_id": null, "action": "1. Approach the wooden rectangular table that's covered in wrapping paper and other items.", "label": "table", "target_id": "10", "target_object": "table", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Pick up and fold any loose wrapping paper on the table.", "label": "table", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "10", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Organize objects like the plant, laptop, and bottle of wine into respective areas on the table.", "label": "table", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "10", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Clear any trash or unnecessary items on it.", "label": "table", "target_id": "2", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "10", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Wipe the surface of the table to make it clean and neat.", "label": "table", "target_id": "10", "target_object": "table", "target_changed": false, "anchors": [] } ] }, { "task_description": "Wash hands in the bathroom.", "scan_id": "ARKitScenes_44358576", "action_steps": [ { "action_id": null, "action": "1. Go to the white porcelain sink in the bathroom.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Turn on the faucet on the side of the sink.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wash hands under the running water.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Turn off the faucet once hands are clean.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Use the bathroom.", "scan_id": "ARKitScenes_40958754", "action_steps": [ { "action_id": null, "action": "1. Walk to the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Use the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Go to the sink nearby.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "sink", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Wash your hands.", "label": "sink", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] } ] }, { "task_description": "Warm up by the fireplace.", "scan_id": "ARKitScenes_42899828", "action_steps": [ { "action_id": null, "action": "1. Walk to the rough-textured fireplace.", "label": "fireplace", "target_id": "1", "target_object": "fireplace", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Light the fireplace for heat.", "label": "fireplace", "target_id": "1", "target_object": "fireplace", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Go to the wooden wall shelf nearby.", "label": "shelf", "target_id": "1", "target_object": "fireplace", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "shelf", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Fetch a book from this shelf.", "label": "shelf", "target_id": "2", "target_object": "shelf", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Return to the front of the fireplace.", "label": "fireplace", "target_id": "2", "target_object": "shelf", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "fireplace", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "6. Sit close by to enjoy the warmth while reading.", "label": "fireplace", "target_id": "2", "target_object": "shelf", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "fireplace", "anchor_type": "explicit" } ] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_42446072", "action_steps": [ { "action_id": null, "action": "1. Walk to the white toilet located next to the bathtub.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "4", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Use the toilet for urination or defecation.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Flush the toilet after using.", "label": "toilet", "target_id": "3", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Wash your hands at the nearby white ceramic sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Quick toilet usage before going out.", "scan_id": "ARKitScenes_47430690", "action_steps": [ { "action_id": 1, "action": "1. Walk to the white, oblong public toilet to the right of the bathtub.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bathtub", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Use the toilet for your needs.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Walk to the white sink nearby.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 4, "action": "4. Wash your hands at the sink with the white faucet.", "label": "sink", "target_id": "3", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare for bedtime.", "scan_id": "ARKitScenes_41126728", "action_steps": [ { "action_id": null, "action": "1. Walk to the sink.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Wash your hands here.", "label": "sink", "target_id": "1", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Walk to the bed far from the toilet.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "toilet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "4. Lie down on this bed.", "label": "bed", "target_id": "3", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Relax and watch TV in the living room.", "scan_id": "ARKitScenes_42446446", "action_steps": [ { "action_id": null, "action": "1. Walk to the dark brown leather sectional sofa.", "label": "sofa", "target_id": "21", "target_object": "sofa", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Sit down comfortably here.", "label": "sofa", "target_id": "21", "target_object": "sofa", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Reach for the remote from the wooden table adjacent to it.", "label": "table", "target_id": "3", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "24", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Turn on the flat screen TV mounted above the fireplace.", "label": "tv", "target_id": "34", "target_object": "tv", "target_changed": false, "anchors": [ { "anchor_id": "33", "anchor_object": "fireplace", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "5. Select your favorite channel using the remote.", "label": "tv", "target_id": "3", "target_object": "object", "target_changed": true, "anchors": [] } ] }, { "task_description": "Clean the bathroom sink.", "scan_id": "ARKitScenes_47332297", "action_steps": [ { "action_id": null, "action": "1. Walk to the white porcelain sink with a faucet, placed in the corner.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Open the faucet to run water.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Rinse the sink with the water.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the faucet.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize bathroom essentials.", "scan_id": "ARKitScenes_45261548", "action_steps": [ { "action_id": 1, "action": "1. Go to the white, stainless steel cabinet in the bathroom.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Open the cabinet door.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Close the cabinet door.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize the bedside area.", "scan_id": "ARKitScenes_48018269", "action_steps": [ { "action_id": null, "action": "1. Go to the rectangular wooden table near the wooden single bed.", "label": "table", "target_id": "3", "target_object": "table", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Remove any items currently on this table.", "label": "table", "target_id": "3", "target_object": "table", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wipe the table's surface with a cloth.", "label": "table", "target_id": "3", "target_object": "table", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Go behind this table to fetch the cloth from the cabinet.", "label": "cabinet", "target_id": "3", "target_object": "table", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "5. Return to the table and continue to wipe it down thoroughly.", "label": "table", "target_id": "3", "target_object": "table", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize the storage space.", "scan_id": "ARKitScenes_42898163", "action_steps": [ { "action_id": 1, "action": "1. Start with the tall rectangular grey and white wooden storage cabinet.", "label": "cabinet", "target_id": "12", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 2, "action": "2. Sort out items that are not necessary and set them aside on the nearby brown wooden table used as a coffee table.", "label": "table", "target_id": "32", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "33", "anchor_object": "table", "anchor_type": "explicit" } ] }, { "action_id": 3, "action": "3. Wipe the shelves of the cabinet using a cloth kept in the grey and white kitchen cabinet.", "label": "cabinet", "target_id": "11", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Neatly place the useful items back into the cabinet.", "label": "cabinet", "target_id": "12", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 5, "action": "5. Take the discarded items to the wooden cabinet used to store pots and pans and assess if any can be stored there.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Prepare a microwave dinner.", "scan_id": "ARKitScenes_47332467", "action_steps": [ { "action_id": null, "action": "1. Open the glass doors of the tall white and glass display cabinet.", "label": "cabinet", "target_id": "1", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "2. Take out the microwave oven from within it.", "label": "cabinet", "target_id": "11", "target_object": "oven", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "3. Place the microwave oven on the kitchen counter in front of the white, stainless steel sink.", "label": "cabinet", "target_id": "11", "target_object": "oven", "target_changed": true, "anchors": [ { "anchor_id": "9", "anchor_object": "sink", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "4. Open the microwave oven and place your dinner inside it.", "label": "cabinet", "target_id": "11", "target_object": "oven", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "5. Set the timer and start the microwave.", "label": "cabinet", "target_id": "11", "target_object": "oven", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "6. Once the timer goes off, open the microwave and take out your dinner.", "label": "cabinet", "target_id": "11", "target_object": "oven", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "7. Serve the dinner on the wooden dining table adjacent to the leather chairs.", "label": "table", "target_id": "23", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "18", "anchor_object": "table", "anchor_type": "explicit" } ] } ] }, { "task_description": "Prepare to visit a guest.", "scan_id": "ARKitScenes_45261072", "action_steps": [ { "action_id": 1, "action": "1. Walk to the bathroom to use the toilet.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Use the toilet for regular relief.", "label": "toilet", "target_id": "1", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Walk immediately to the sink to freshen up.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": true, "anchors": [] }, { "action_id": 4, "action": "4. Wash your face and hands using the faucet on the sink.", "label": "sink", "target_id": "2", "target_object": "sink", "target_changed": false, "anchors": [] } ] }, { "task_description": "Enjoy a relaxing evening watching TV from the bed.", "scan_id": "ARKitScenes_47334080", "action_steps": [ { "action_id": 1, "action": "1. Walk to the black or white TV with a flat screen texture.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [] }, { "action_id": 2, "action": "2. Turn the TV on.", "label": "tv", "target_id": "3", "target_object": "tv", "target_changed": false, "anchors": [] }, { "action_id": 3, "action": "3. Perambulate to the right of the TV to the bed close by the desk chair.", "label": "bed", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": 4, "action": "4. Lie down on the grey and white checkered double bed.", "label": "bed", "target_id": "3", "target_object": "tv", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "bed", "anchor_type": "explicit" } ] } ] }, { "task_description": "Prepare an area for a small gathering.", "scan_id": "ARKitScenes_48018203", "action_steps": [ { "action_id": 1, "action": "1. Walk to the chair next to the cabinet.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": true, "anchors": [ { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 2, "action": "2. Pull the chair slightly away from the sofa and cabinet to create more space.", "label": "chair", "target_id": "3", "target_object": "chair", "target_changed": false, "anchors": [ { "anchor_id": "1", "anchor_object": "sofa", "anchor_type": "explicit" }, { "anchor_id": "2", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": 3, "action": "3. Check the cabinet for any beverages or snacks that can be served.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": 4, "action": "4. Return to the sofa to rest after preparing the gathering area.", "label": "sofa", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "sofa", "anchor_type": "explicit" } ] } ] }, { "task_description": "Prepare the bunk beds for sleep.", "scan_id": "ARKitScenes_42445100", "action_steps": [ { "action_id": null, "action": "1. Go to the white wooden bunk bed on the left.", "label": "bed", "target_id": null, "target_object": null, "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Pull out the covers on it.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Fluff the pillow on this bed.", "label": "bed", "target_id": "1", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Walk to the blue triangular-shaped bunk bed near the white bunk bed.", "label": "bed", "target_id": null, "target_object": null, "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "5. Pull out the covers on this bed.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "6. Fluff the pillow on this bed.", "label": "bed", "target_id": "2", "target_object": "bed", "target_changed": false, "anchors": [] } ] }, { "task_description": "Have a relaxing reading session before sleep.", "scan_id": "ARKitScenes_42897681", "action_steps": [ { "action_id": null, "action": "1. Walk up to the beige cabinet nearby the wooden bed.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Open the cabinet and pick out a book.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Move to the bed in the bedroom.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "4. Sit comfortably on the bed.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "5. Begin your reading session.", "label": "bed", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "bed", "anchor_type": "explicit" } ] } ] }, { "task_description": "Enjoy a moment of relaxation on the chair.", "scan_id": "ARKitScenes_45261399", "action_steps": [ { "action_id": null, "action": "1. Walk to the blue velvet lounge chair.", "label": "chair", "target_id": "2", "target_object": "chair", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Sit down and relax in the chair.", "label": "chair", "target_id": "2", "target_object": "chair", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize kitchen essentials.", "scan_id": "ARKitScenes_42445500", "action_steps": [ { "action_id": null, "action": "1. Collect various kitchen items from the white, wooden storage cabinet with a light on top and a wicker basket inside.", "label": "cabinet", "target_id": "34", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "14", "anchor_object": "cabinet", "anchor_type": "explicit" } ] }, { "action_id": null, "action": "2. Walk to the white kitchen cabinet with a blue stove top and stove.", "label": "cabinet", "target_id": null, "target_object": null, "target_changed": true, "anchors": [ { "anchor_id": "3", "anchor_object": "cabinet", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "3. Store the items neatly inside this cabinet.", "label": "cabinet", "target_id": "34", "target_object": "object", "target_changed": true, "anchors": [ { "anchor_id": "19", "anchor_object": "cabinet", "anchor_type": "explicit" } ] } ] }, { "task_description": "Use the toilet.", "scan_id": "ARKitScenes_44358418", "action_steps": [ { "action_id": null, "action": "1. Walk to the white toilet with a seat and lid.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": true, "anchors": [] }, { "action_id": null, "action": "2. Lift the lid of the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Use the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Close the lid after using the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "5. Flush the toilet.", "label": "toilet", "target_id": "2", "target_object": "toilet", "target_changed": false, "anchors": [] } ] }, { "task_description": "Organize the items on the cabinet.", "scan_id": "ARKitScenes_48018203", "action_steps": [ { "action_id": null, "action": "1. Walk to the cabinet between the sofa and the chair.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": true, "anchors": [ { "anchor_id": "1", "anchor_object": "sofa", "anchor_type": "explicit" }, { "anchor_id": "3", "anchor_object": "chair", "anchor_type": "explicit" } ], "anchor_source": "rule_backfill" }, { "action_id": null, "action": "2. Arrange any items that appear out of place on top of the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "3. Wipe the surface of the cabinet if needed.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] }, { "action_id": null, "action": "4. Step back to review your organization of the cabinet.", "label": "cabinet", "target_id": "2", "target_object": "cabinet", "target_changed": false, "anchors": [] } ] } ]