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The dataset generation failed
Error code: DatasetGenerationError
Exception: ValueError
Message: Expected object or value
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1827, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 281, in _generate_tables
examples = [ujson_loads(line) for line in batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1880, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
qa_id string | scene_id string | viewpoint_id string | subset string | image string | scene_type string | scene_description string | goal dict | question string | question_style string | plan_graph dict | generation_info dict |
|---|---|---|---|---|---|---|---|---|---|---|---|
scene_00148_1752654343_01 | scene_00148 | 1752654343 | real | real_world_data/scene_00148/viewpoints/1752654343/panoImage_1600.jpg | living_room | A spacious and bright living area featuring a modern white furniture set, large sliding glass doors leading to a balcony, and a view of a residential complex under a clear blue sky. | {
"text": "Refresh the living area by improving the air and cleaning the floor.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "enjoy a cooler room"
},
{
"id": "N5",
"text": "keep the floor clean"
}
]
} | I'm feeling a bit stuffy and notice some dust on the floor, so what steps should I take to freshen up the air and tidy up the living space? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sliding_window",
"object_id": "1752654343_c67",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "central_air_conditioner",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654343_02 | scene_00148 | 1752654343 | real | real_world_data/scene_00148/viewpoints/1752654343/panoImage_1600.jpg | living_room | A spacious and bright living area featuring a modern white furniture set, large sliding glass doors leading to a balcony, and a view of a residential complex under a clear blue sky. | {
"text": "Prepare for a relaxing evening of news watching while tidying up spare items.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N2",
"text": "watch the news"
},
{
"id": "N3",
"text": "store spare linens"
}
]
} | I'm feeling like unwinding with some news after a long day, but I really need to get those spare linens out of the way first; how can I set up for this evening while organizing the storage space in this room? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "television",
"object_id": "1752654343_c106",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "lamp",
"object_id": "1... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654277_01 | scene_00148 | 1752654277 | real | real_world_data/scene_00148/viewpoints/1752654277/panoImage_1600.jpg | living_room | A spacious, modern living room featuring a curved media wall, a large sofa, and an open-plan layout that connects to a dining area and a balcony, illuminated by warm overhead lighting. | {
"text": "Get ready for a relaxing movie night by dimming the lights and finding the remote.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "dim the lights for relaxation"
},
{
"id": "N6",
"text": "find a remote control"
}
]
} | I'm feeling like unwinding for a movie night, so how can I make the room cozier and track down the thing I need to control the screen? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "lamp",
"object_id": "1752654277_c133_i1",
"action": "turn_off",
"category": "Lighting",
"init_state": {
"power": "on"
}
},
{
"node_id": "n2",
"object": "lamp",
"object_id": "1752654277_c133_i2",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 6,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654277_03 | scene_00148 | 1752654277 | real | real_world_data/scene_00148/viewpoints/1752654277/panoImage_1600.jpg | living_room | A spacious, modern living room featuring a curved media wall, a large sofa, and an open-plan layout that connects to a dining area and a balcony, illuminated by warm overhead lighting. | {
"text": "Make the room more comfortable by turning on the air conditioning and watering the plants.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "cool down the room"
},
{
"id": "N5",
"text": "tend to the indoor greenery"
}
]
} | I'm feeling a bit hot and I want to make sure the greenery in this space is looking its best; what steps should I take to address both of these? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1752654277_c111",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "indoor_plant",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654145_01 | scene_00148 | 1752654145 | real | real_world_data/scene_00148/viewpoints/1752654145/panoImage_1600.jpg | open_plan_living_dining_kitchen | A spacious, high-end open-plan area featuring a dining set with blue chairs and a round table, a visible kitchen with light cabinetry, and a marble floor illuminated by a modern chandelier. | {
"text": "Open up the kitchen for fresh air and turn on the air conditioning.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "ventilate the kitchen space"
},
{
"id": "N2",
"text": "cool down the room"
}
]
} | I'm feeling a bit stuffy and want the kitchen to feel more open and breezy, but I also need it to be cooler; what steps should I take to achieve this? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "blinds",
"object_id": "1752654145_c15",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "casement_window",
"obj... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654145_02 | scene_00148 | 1752654145 | real | real_world_data/scene_00148/viewpoints/1752654145/panoImage_1600.jpg | open_plan_living_dining_kitchen | A spacious, high-end open-plan area featuring a dining set with blue chairs and a round table, a visible kitchen with light cabinetry, and a marble floor illuminated by a modern chandelier. | {
"text": "Ensure the houseplants are hydrated and the dining area is bright for the evening.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "keep the houseplants alive"
},
{
"id": "N5",
"text": "brighten the dining area"
}
]
} | I'm getting ready for dinner tonight and I want the dining space to feel cozy and the greenery around the house to look its best, but I'm not sure where to start—what should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "indoor_plant",
"object_id": "1752654145_c149_i1",
"action": "water",
"category": "Plants & Greenery",
"init_state": {
"watered": false
}
},
{
"node_id": "n2",
"object": "indoor_plant",
"object_id... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654145_03 | scene_00148 | 1752654145 | real | real_world_data/scene_00148/viewpoints/1752654145/panoImage_1600.jpg | open_plan_living_dining_kitchen | A spacious, high-end open-plan area featuring a dining set with blue chairs and a round table, a visible kitchen with light cabinetry, and a marble floor illuminated by a modern chandelier. | {
"text": "Prepare the dining table for guests and place food items in the kitchen storage.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "store food in the kitchen"
}
]
} | I'm feeling a bit rushed and want to get everything ready for the dinner party; how should I go about setting up the seating area and putting the groceries away in the storage space I can see? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "dining_table",
"object_id": "1752654145_c100",
"action": "put_on",
"category": "Furniture",
"init_state": {
"is_empty": true
}
},
{
"node_id": "n2",
"object": "kitchen_cabinet",
"object_id": "175... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 1,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654111_01 | scene_00148 | 1752654111 | real | real_world_data/scene_00148/viewpoints/1752654111/panoImage_1600.jpg | dining_room | A spacious, high-end dining and living area featuring a round marble table, a grand staircase, and an open kitchen, all finished with light wood paneling and polished stone flooring. | {
"text": "Refresh the dining room and prepare a table for a family dinner.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "Let fresh air into the room"
},
{
"id": "N5",
"text": "Prepare for a family dinner"
}
]
} | I want to get some fresh air circulating in the dining area before we sit down for family dinner, what should I do? | I want to... | {
"nodes": [
{
"node_id": "n1",
"object": "casement_window",
"object_id": "1752654111_c66_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "casement_window",
"ob... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654111_03 | scene_00148 | 1752654111 | real | real_world_data/scene_00148/viewpoints/1752654111/panoImage_1600.jpg | dining_room | A spacious, high-end dining and living area featuring a round marble table, a grand staircase, and an open kitchen, all finished with light wood paneling and polished stone flooring. | {
"text": "Ventilate the house and prepare the dining table for a meal.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "Let fresh air into the room"
},
{
"id": "N5",
"text": "Prepare for a family dinner"
}
]
} | I'm feeling stuffy and want to get ready for a family dinner; what steps should I take to let some fresh air in and set the table? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "casement_window",
"object_id": "1752654111_c66_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "casement_window",
"ob... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654309_01 | scene_00148 | 1752654309 | real | real_world_data/scene_00148/viewpoints/1752654309/panoImage_1600.jpg | living_room | A spacious, modern living room featuring a large curved glass wall that opens onto a balcony, with a central seating area and a distinct dining nook visible in the background. | {
"text": "Prepare the room for a cozy movie night with soft lighting.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "Watch a movie on the big screen"
},
{
"id": "N5",
"text": "Add a bit of ambient lighting"
}
]
} | I'm feeling like settling in for a relaxing movie night with just the right amount of warm glow, so what should I do to get the room set up? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "television",
"object_id": "1752654309_c106",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "lamp",
"object_id": "1... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654309_02 | scene_00148 | 1752654309 | real | real_world_data/scene_00148/viewpoints/1752654309/panoImage_1600.jpg | living_room | A spacious, modern living room featuring a large curved glass wall that opens onto a balcony, with a central seating area and a distinct dining nook visible in the background. | {
"text": "Bring in fresh air while keeping the bright afternoon sun out.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "Let fresh air into the house"
},
{
"id": "N4",
"text": "Block the bright afternoon sun"
}
]
} | I'm feeling stuffy and the afternoon sun is glaring right into the room; what should I do to get some ventilation without letting all that light in? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sliding_door",
"object_id": "1752654309_c64",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_id": "175... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654309_03 | scene_00148 | 1752654309 | real | real_world_data/scene_00148/viewpoints/1752654309/panoImage_1600.jpg | living_room | A spacious, modern living room featuring a large curved glass wall that opens onto a balcony, with a central seating area and a distinct dining nook visible in the background. | {
"text": "Cool the warm living room and water the dry houseplants.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "Cool down the warm living room"
},
{
"id": "N6",
"text": "Keep the plants alive and green"
}
]
} | I'm feeling a bit too warm in here and I'm worried about the greenery looking a bit thirsty, so what should I do to get the temperature right and make sure everything stays fresh? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1752654309_c111",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "indoor_plant",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654246_01 | scene_00148 | 1752654246 | real | real_world_data/scene_00148/viewpoints/1752654246/panoImage_1600.jpg | living_room | A spacious, high-end living and dining area featuring polished marble flooring, modern white furniture, and warm wood accents. The space is well-lit by recessed ceiling lights and a distinctive chandelier, with a clear separation between the lounge and dining zones. | {
"text": "Set up the living area for a comfortable evening movie session.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "watch a movie"
}
]
} | I'm feeling like settling in for a cozy movie night in the living room, but the space feels a bit too bright and busy right now. What should I do to get the atmosphere just right for watching? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "television",
"object_id": "1752654246_c106",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "lamp",
"object_id": "1... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654246_02 | scene_00148 | 1752654246 | real | real_world_data/scene_00148/viewpoints/1752654246/panoImage_1600.jpg | living_room | A spacious, high-end living and dining area featuring polished marble flooring, modern white furniture, and warm wood accents. The space is well-lit by recessed ceiling lights and a distinctive chandelier, with a clear separation between the lounge and dining zones. | {
"text": "Ensure the house plants look healthy and vibrant throughout the space.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "water the house plants"
}
]
} | I'm feeling a bit worried that the greenery in my living room might be drying out, so what should I do to make sure everything looks vibrant and healthy? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "indoor_plant",
"object_id": "1752654246_c149_i1",
"action": "water",
"category": "Plants & Greenery",
"init_state": {
"watered": false
}
},
{
"node_id": "n2",
"object": "indoor_plant",
"object_id... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 1,
"planner_ops": 4,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654246_03 | scene_00148 | 1752654246 | real | real_world_data/scene_00148/viewpoints/1752654246/panoImage_1600.jpg | living_room | A spacious, high-end living and dining area featuring polished marble flooring, modern white furniture, and warm wood accents. The space is well-lit by recessed ceiling lights and a distinctive chandelier, with a clear separation between the lounge and dining zones. | {
"text": "Make the lounge area tidy and prepare a comfortable spot to relax.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "clean the living room floor"
},
{
"id": "N5",
"text": "find a place to sit"
}
]
} | I'm feeling a bit worn out and just need a cozy place to unwind, but the space feels a little cluttered and messy first; what should I do to get the area clean and find a comfortable spot to sit? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "carpet",
"object_id": "1752654246_c143_i1",
"action": "vacuum",
"category": "Textiles & Soft Furnishings",
"init_state": {}
},
{
"node_id": "n2",
"object": "carpet",
"object_id": "1752654246_c143_i2",
"a... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654209_01 | scene_00148 | 1752654209 | real | real_world_data/scene_00148/viewpoints/1752654209/panoImage_1600.jpg | kitchen | A spacious, high-end kitchen featuring a U-shaped layout with sleek white cabinetry and a large central window. The area is bright with natural light, connecting directly to an adjacent dining room through a wide, open doorway. | {
"text": "Prepare the cooking station for a hot meal and ensure the air is clean.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "start cooking a meal"
}
]
} | I'm feeling hungry and ready to prepare a hot meal, but I want to make sure the air stays fresh and I have plenty of natural light to cook by—what steps should I take to get the station ready? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "cooker_hood",
"object_id": "1752654209_c117",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "gas_stove",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654209_02 | scene_00148 | 1752654209 | real | real_world_data/scene_00148/viewpoints/1752654209/panoImage_1600.jpg | kitchen | A spacious, high-end kitchen featuring a U-shaped layout with sleek white cabinetry and a large central window. The area is bright with natural light, connecting directly to an adjacent dining room through a wide, open doorway. | {
"text": "Brighten the kitchen space and wash the produce for the upcoming meal.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "increase natural light"
},
{
"id": "N3",
"text": "wash ingredients for cooking"
}
]
} | I'm feeling like the kitchen is a bit too dim and I have some fresh vegetables waiting to be cleaned for dinner, so what should I do to let more daylight in and get everything ready? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "blinds",
"object_id": "1752654209_c15",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "kitchen_sink",
"object... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654209_03 | scene_00148 | 1752654209 | real | real_world_data/scene_00148/viewpoints/1752654209/panoImage_1600.jpg | kitchen | A spacious, high-end kitchen featuring a U-shaped layout with sleek white cabinetry and a large central window. The area is bright with natural light, connecting directly to an adjacent dining room through a wide, open doorway. | {
"text": "Ventilate the kitchen and retrieve dinner plates from the storage unit.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "cool down the room"
},
{
"id": "N5",
"text": "retrieve a dinner plate"
}
]
} | The kitchen feels a bit stuffy and I'm ready to start plating up dinner, but I'm not sure where to begin to get some fresh air and get the dishes I need. What should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "casement_window",
"object_id": "1752654209_c66",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "kitchen_cabinet",
"objec... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654177_01 | scene_00148 | 1752654177 | real | real_world_data/scene_00148/viewpoints/1752654177/panoImage_1600.jpg | open_plan_kitchen_dining | A spacious, modern open-plan living area featuring a curved white kitchen island and grey cabinetry, adjacent to a dining area with a blue chair set and marble flooring. | {
"text": "Prepare to cook a meal while ensuring the kitchen has fresh air.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "start cooking dinner"
},
{
"id": "N3",
"text": "let fresh air in"
}
]
} | I'm about to start preparing dinner and I want the kitchen to feel fresh and not stuffy; what should I do to get the cooking started while ensuring good airflow? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "gas_stove",
"object_id": "1752654177_c118",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "cooker_hood",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654177_02 | scene_00148 | 1752654177 | real | real_world_data/scene_00148/viewpoints/1752654177/panoImage_1600.jpg | open_plan_kitchen_dining | A spacious, modern open-plan living area featuring a curved white kitchen island and grey cabinetry, adjacent to a dining area with a blue chair set and marble flooring. | {
"text": "Lower the room's temperature and retrieve a plate from the cabinets.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N2",
"text": "cool down the room"
},
{
"id": "N4",
"text": "find a clean plate"
}
]
} | I'm feeling a bit warm and I need to grab a plate for a snack, so what should I do first to start cooling the space down and then access the storage? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1752654177_c111",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "kitchen_cabinet... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654177_03 | scene_00148 | 1752654177 | real | real_world_data/scene_00148/viewpoints/1752654177/panoImage_1600.jpg | open_plan_kitchen_dining | A spacious, modern open-plan living area featuring a curved white kitchen island and grey cabinetry, adjacent to a dining area with a blue chair set and marble flooring. | {
"text": "Hydrate the greenery and turn on the dining lights for a cozy atmosphere.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N5",
"text": "keep houseplants hydrated"
}
]
} | I'm feeling a bit stressed and want to create a relaxing evening vibe, but I also feel guilty about neglecting the greenery in the room; what should I do to take care of both the plants and the mood without leaving the water running? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1752654177_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "kitchen_sin... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 1,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654391_01 | scene_00148 | 1752654391 | real | real_world_data/scene_00148/viewpoints/1752654391/panoImage_1600.jpg | balcony | A bright, semi-outdoor balcony space enclosed by floor-to-ceiling glass sliding doors and a safety railing, featuring built-in utility cabinetry and a view of a residential neighborhood. | {
"text": "Prepare the space for leisure while organizing the laundry area.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "enjoy the outdoor view"
},
{
"id": "N2",
"text": "store laundry supplies"
}
]
} | I'm feeling a need to relax and take in the view, but I also need to get my detergent and supplies organized before I settle in. What's the best way to handle both the laundry storage and getting access to the outside? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sliding_door",
"object_id": "1752654391_c64",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "washing_machine_cabinet",
"... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654391_02 | scene_00148 | 1752654391 | real | real_world_data/scene_00148/viewpoints/1752654391/panoImage_1600.jpg | balcony | A bright, semi-outdoor balcony space enclosed by floor-to-ceiling glass sliding doors and a safety railing, featuring built-in utility cabinetry and a view of a residential neighborhood. | {
"text": "Enhance the view and organize the storage for personal items.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "enjoy the outdoor view"
},
{
"id": "N4",
"text": "display a decorative item"
}
]
} | I'm feeling a bit cluttered and I'd love to set up a small display for a decorative piece while keeping my storage area tidy, so what should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine_cabinet",
"object_id": "1752654391_c159",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "washing_machine_cabinet",... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654684_01 | scene_00148 | 1752654684 | real | real_world_data/scene_00148/viewpoints/1752654684/panoImage_1600.jpg | living_room | A spacious and modern living area featuring a curved architectural wall, a large open doorway leading to a wooden balcony, and a floating staircase with glass railings on the right. | {
"text": "Clear the floor and enjoy the outdoor view from the balcony.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "enjoy the outdoor view"
},
{
"id": "N2",
"text": "tidy up the floor"
}
]
} | I'm feeling a bit stressed with the clutter on the floor and I really need to take a breath outside, so what steps should I take to clear the space and get out to the balcony? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sundries",
"object_id": "1752654684_c157_i1",
"action": "pick_up",
"category": "Decorative Objects",
"init_state": {}
},
{
"node_id": "n2",
"object": "sundries",
"object_id": "1752654684_c157_i1",
"actio... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654684_02 | scene_00148 | 1752654684 | real | real_world_data/scene_00148/viewpoints/1752654684/panoImage_1600.jpg | living_room | A spacious and modern living area featuring a curved architectural wall, a large open doorway leading to a wooden balcony, and a floating staircase with glass railings on the right. | {
"text": "Tidy the floor and let in more natural light to brighten the room.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "tidy up the floor"
},
{
"id": "N4",
"text": "let more light in"
}
]
} | I'm feeling like the space looks a bit cluttered and gloomy, so what should I do to clean up the floor and let in some more natural light? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sundries",
"object_id": "1752654684_c157_i1",
"action": "pick_up",
"category": "Decorative Objects",
"init_state": {}
},
{
"node_id": "n2",
"object": "sundries",
"object_id": "1752654684_c157_i1",
"actio... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654566_01 | scene_00148 | 1752654566 | real | real_world_data/scene_00148/viewpoints/1752654566/panoImage_1600.jpg | dining_lounge | A grand, polished interior featuring a sweeping marble staircase with under-step lighting on the left, bordered by tall, warm beige walls and a dining area visible to the right. | {
"text": "Prepare the dining area for a guest and ensure the plants are hydrated.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "water the indoor plants"
},
{
"id": "N4",
"text": "set a place for a guest"
}
]
} | I'm hosting a dinner party and I want the space to feel fresh and ready for my guest; how should I prepare the room and the seating? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "indoor_plant",
"object_id": "1752654566_c149_i1",
"action": "water",
"category": "Plants & Greenery",
"init_state": {
"watered": false
}
},
{
"node_id": "n2",
"object": "indoor_plant",
"object_id... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 6,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654566_02 | scene_00148 | 1752654566 | real | real_world_data/scene_00148/viewpoints/1752654566/panoImage_1600.jpg | dining_lounge | A grand, polished interior featuring a sweeping marble staircase with under-step lighting on the left, bordered by tall, warm beige walls and a dining area visible to the right. | {
"text": "Clean the steps and open the path to the dining room.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N2",
"text": "keep the staircase clean"
},
{
"id": "N5",
"text": "enter the dining room"
}
]
} | I need to make sure the way to the dining area is spotless and accessible before the guests arrive, but I don't want to disturb the seating arrangement—what should I do? | I need to... | {
"nodes": [
{
"node_id": "n1",
"object": "stairs",
"object_id": "1752654566_c8_i1",
"action": "sweep",
"category": "Structural Elements",
"init_state": {}
},
{
"node_id": "n2",
"object": "stairs",
"object_id": "1752654566_c8_i2",
"action": "swee... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654457_01 | scene_00148 | 1752654457 | real | real_world_data/scene_00148/viewpoints/1752654457/panoImage_1600.jpg | bathroom | A spacious, modern bathroom featuring beige marble walls and floors, with a glass-enclosed shower, a double-sink vanity, and a toilet, illuminated by recessed lighting and a backlit mirror. | {
"text": "Refresh with a warm shower and wash my face afterwards.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "take a refreshing shower"
},
{
"id": "N1",
"text": "clean hands and face"
}
]
} | I'm feeling a bit tired and want to freshen up in the bathroom—what's the best way to use the facilities here to get a warm rinse and then clean my face? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "shower_room",
"object_id": "1752654457_c141",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "shower_room",
"object_id": "1752... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654457_02 | scene_00148 | 1752654457 | real | real_world_data/scene_00148/viewpoints/1752654457/panoImage_1600.jpg | bathroom | A spacious, modern bathroom featuring beige marble walls and floors, with a glass-enclosed shower, a double-sink vanity, and a toilet, illuminated by recessed lighting and a backlit mirror. | {
"text": "Organize the washroom by hanging a fresh towel and checking my appearance.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N4",
"text": "hang a fresh towel"
},
{
"id": "N5",
"text": "check appearance"
}
]
} | I need to freshen up my space and get a clear look at how I'm looking, but I can't find a spare towel nearby—what should I do to sort this out? | need | {
"nodes": [
{
"node_id": "n1",
"object": "bathroom_cabinet",
"object_id": "1752654457_c88",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "bathroom_cabinet",
"object_... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654457_03 | scene_00148 | 1752654457 | real | real_world_data/scene_00148/viewpoints/1752654457/panoImage_1600.jpg | bathroom | A spacious, modern bathroom featuring beige marble walls and floors, with a glass-enclosed shower, a double-sink vanity, and a toilet, illuminated by recessed lighting and a backlit mirror. | {
"text": "Wash my hands and face, then ensure the room is tidy by hanging a towel.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "clean hands and face"
},
{
"id": "N4",
"text": "hang a fresh towel"
}
]
} | I just got back from a long walk and need to refresh myself, but I also want to leave this space looking neat for my guests—what's the proper way to handle this in the room shown? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1752654457_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "washbasin",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654515_01 | scene_00148 | 1752654515 | real | real_world_data/scene_00148/viewpoints/1752654515/panoImage_1600.jpg | bedroom | A modern and airy bedroom featuring a large bed with a wooden headboard, a cozy bay window seating area with floor-to-ceiling glass, and a sleek, recessed ceiling design with ambient lighting. | {
"text": "Wake up the bedroom by letting in daylight and fresh air for the morning.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "let natural light in"
},
{
"id": "N2",
"text": "freshen the room air"
}
]
} | I'm feeling a bit groggy and want to feel fully awake with some sunshine and a breeze, but I can't figure out the right sequence to get the light and air in without getting in the way of myself—what steps should I take? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752654515_c9_i1",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654515_02 | scene_00148 | 1752654515 | real | real_world_data/scene_00148/viewpoints/1752654515/panoImage_1600.jpg | bedroom | A modern and airy bedroom featuring a large bed with a wooden headboard, a cozy bay window seating area with floor-to-ceiling glass, and a sleek, recessed ceiling design with ambient lighting. | {
"text": "Create a warm reading corner by brightening the bedside and giving the plant some water.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "brighten the bedside area"
},
{
"id": "N4",
"text": "keep the plant alive"
}
]
} | I'm feeling cozy but need a bit more light to read comfortably and also want to make sure the greenery in the room looks healthy; what should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "lamp",
"object_id": "1752654515_c133_i1",
"action": "turn_on",
"category": "Lighting",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "lamp",
"object_id": "1752654515_c133_i2",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654515_03 | scene_00148 | 1752654515 | real | real_world_data/scene_00148/viewpoints/1752654515/panoImage_1600.jpg | bedroom | A modern and airy bedroom featuring a large bed with a wooden headboard, a cozy bay window seating area with floor-to-ceiling glass, and a sleek, recessed ceiling design with ambient lighting. | {
"text": "Refresh the space by letting in light and air while keeping the plant healthy.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "let natural light in"
},
{
"id": "N2",
"text": "freshen the room air"
},
{
"id": "N4",
"text": "keep the... | I'm feeling a bit stuffy and my greenery looks a little thirsty, so how can I make this room feel more alive and healthy without disturbing the furniture? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752654515_c9_i1",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 3,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654426_01 | scene_00148 | 1752654426 | real | real_world_data/scene_00148/viewpoints/1752654426/panoImage_1600.jpg | apartment | A modern, open-plan apartment interior featuring a dining area, a central storage unit, a bathroom, and a bedroom, all illuminated by warm artificial lighting. | {
"text": "Refresh the morning air and ensure all greenery in the home is well-hydrated.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "freshen the air in the space"
},
{
"id": "N3",
"text": "keep the houseplants alive"
}
]
} | I'm feeling stuffy and worried about the health of the greenery in the apartment; what should I do to let some fresh air in and make sure the plants get the moisture they need? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bay_window",
"object_id": "1752654426_c69",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "casement_window",
"object_id"... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654426_02 | scene_00148 | 1752654426 | real | real_world_data/scene_00148/viewpoints/1752654426/panoImage_1600.jpg | apartment | A modern, open-plan apartment interior featuring a dining area, a central storage unit, a bathroom, and a bedroom, all illuminated by warm artificial lighting. | {
"text": "Dim the overhead lights and store personal items to prepare for a restful evening.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N5",
"text": "relax in a dimly lit environment"
},
{
"id": "N4",
"text": "find a place to store items"
}
]
} | I'm feeling ready to wind down for the evening, so how can I make the space feel more relaxed and put away my things? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "lamp",
"object_id": "1752654426_c133_i1",
"action": "turn_off",
"category": "Lighting",
"init_state": {
"power": "on"
}
},
{
"node_id": "n2",
"object": "lamp",
"object_id": "1752654426_c133_i2",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654426_03 | scene_00148 | 1752654426 | real | real_world_data/scene_00148/viewpoints/1752654426/panoImage_1600.jpg | apartment | A modern, open-plan apartment interior featuring a dining area, a central storage unit, a bathroom, and a bedroom, all illuminated by warm artificial lighting. | {
"text": "Let natural light into the living area by adjusting the window treatments and panels.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "let sunlight into the room"
}
]
} | I'm feeling a bit gloomy in the living area, so what can I do to let more natural light in and brighten up the space? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752654426_c9_i1",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654602_01 | scene_00148 | 1752654602 | real | real_world_data/scene_00148/viewpoints/1752654602/panoImage_1600.jpg | staircase_hall | A bright and clean interior staircase hall featuring illuminated stone steps, a glass railing, and large warm-toned wall panels. A small seating area and a closed door are visible at the base of the stairs. | {
"text": "Clear the foot of the stairs and refresh the nearby flooring.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "clear the foot of the stairs"
},
{
"id": "N5",
"text": "refresh the flooring"
}
]
} | I need to make the area by the steps look fresh and tidy for guests, what should I do with the surfaces I see in the photo? | need | {
"nodes": [
{
"node_id": "n1",
"object": "stairs",
"object_id": "1752654602_c8_i1",
"action": "sweep",
"category": "Structural Elements",
"init_state": {}
},
{
"node_id": "n2",
"object": "stairs",
"object_id": "1752654602_c8_i2",
"action": "swee... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654602_03 | scene_00148 | 1752654602 | real | real_world_data/scene_00148/viewpoints/1752654602/panoImage_1600.jpg | staircase_hall | A bright and clean interior staircase hall featuring illuminated stone steps, a glass railing, and large warm-toned wall panels. A small seating area and a closed door are visible at the base of the stairs. | {
"text": "Secure personal items and move to the next room.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "store personal items securely"
},
{
"id": "N4",
"text": "move to the next room"
}
]
} | I'm feeling a bit uneasy about leaving my things out in the open, so what should I do to secure them before I head to the next room? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1752654602_c75",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id": "1752654602... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654768_01 | scene_00148 | 1752654768 | real | real_world_data/scene_00148/viewpoints/1752654768/panoImage_1600.jpg | balcony | A spacious outdoor balcony featuring a reddish-brown wooden deck and curved architectural overhangs. The area is enclosed by floor-to-ceiling glass railings overlooking a city landscape, with an entrance door leading to an interior living space. | {
"text": "Head inside and retrieve a coat from the bedroom closet.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "enter the house"
},
{
"id": "N3",
"text": "find a jacket"
}
]
} | I'm getting a chill and need to grab a coat from the bedroom before I leave. What should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "swing_door",
"object_id": "1752654768_c62",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id": "1752... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654733_02 | scene_00148 | 1752654733 | real | real_world_data/scene_00148/viewpoints/1752654733/panoImage_1600.jpg | balcony | A spacious outdoor balcony with wooden decking, glass railings, and a curved layout. The space is bright and airy, connecting directly to an indoor hallway on the right side, with a view of a residential neighborhood in the distance. | {
"text": "Bring my personal belongings out to the deck while ensuring the room is well ventilated.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "Let fresh air into the room"
},
{
"id": "N5",
"text": "Move items to the balcony"
}
]
} | I'm feeling a bit stuffy in here and want to get some of my things out onto the deck without carrying them through a tight space, so how do I set up the space to move my belongings over while getting some fresh air in? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "swing_door",
"object_id": "1752654733_c62",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "sliding_door",
"object_id": "... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654733_03 | scene_00148 | 1752654733 | real | real_world_data/scene_00148/viewpoints/1752654733/panoImage_1600.jpg | balcony | A spacious outdoor balcony with wooden decking, glass railings, and a curved layout. The space is bright and airy, connecting directly to an indoor hallway on the right side, with a view of a residential neighborhood in the distance. | {
"text": "Access the cabinet to find an item and bring it out to enjoy the fresh air.",
"difficulty": "hard",
"sub_goals": [
{
"id": "N1",
"text": "Let fresh air into the room"
},
{
"id": "N4",
"text": "Retrieve an item from storage"
},
{
"id": "N5",
"text"... | I'm craving a little outdoor relaxation with a snack from inside; what is the most efficient way to get that treat out here to the deck without leaving the interior cluttered? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "tv_cabinet",
"object_id": "1752654733_c84",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "sundries",
"object_id": "17526547... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true
} |
scene_00148_1752654948_02 | scene_00148 | 1752654948 | real | real_world_data/scene_00148/viewpoints/1752654948/panoImage_1600.jpg | balcony | A sunlit, modern balcony with light tiling and glass railings, featuring a clear view of a residential complex and greenery. The space is clean and open, transitioning to an indoor living area through a large glass sliding door. | {
"text": "Organize the living area by securing a personal item in storage.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N4",
"text": "find a personal item"
}
]
} | I'm feeling a bit overwhelmed by the clutter in my living space and want to secure a personal item in storage without making a mess, but I can't quite see the furniture layout from this angle—what should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "tv_cabinet",
"object_id": "1752654948_c84",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "tv_cabinet",
"object_id": "175265... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654913_01 | scene_00148 | 1752654913 | real | real_world_data/scene_00148/viewpoints/1752654913/panoImage_1600.jpg | bedroom | A spacious, modern bedroom with floor-to-ceiling glass doors leading to a curved balcony, bathed in bright natural light. The interior features a large bed with white linens, a minimalist desk area, and a clean, uncluttered layout. | {
"text": "Refresh the room with fresh air and maintain a cool, comfortable temperature.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "let the fresh air in"
},
{
"id": "N2",
"text": "keep the room temperature comfortable"
}
]
} | I'm feeling a bit stuffy and warm, so I want to refresh the bedroom with some circulation and cool it down, but I need to make sure I'm using the right controls for the glass partitions and the climate system. How should I proceed? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sliding_door",
"object_id": "1752654913_c64_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "sliding_door",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654913_02 | scene_00148 | 1752654913 | real | real_world_data/scene_00148/viewpoints/1752654913/panoImage_1600.jpg | bedroom | A spacious, modern bedroom with floor-to-ceiling glass doors leading to a curved balcony, bathed in bright natural light. The interior features a large bed with white linens, a minimalist desk area, and a clean, uncluttered layout. | {
"text": "Locate clean clothing in the storage unit and tend to the potted plant.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "find a clean shirt to wear"
},
{
"id": "N4",
"text": "keep the houseplant alive"
}
]
} | I'm getting ready for the day and feeling a bit parched, so what should I do to find some fresh clothes and make sure my little green friend is okay? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1752654913_c75_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id": "1752654... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654913_03 | scene_00148 | 1752654913 | real | real_world_data/scene_00148/viewpoints/1752654913/panoImage_1600.jpg | bedroom | A spacious, modern bedroom with floor-to-ceiling glass doors leading to a curved balcony, bathed in bright natural light. The interior features a large bed with white linens, a minimalist desk area, and a clean, uncluttered layout. | {
"text": "Create a pleasant environment by circulating air and ensuring the plant is hydrated.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "let the fresh air in"
},
{
"id": "N4",
"text": "keep the houseplant alive"
}
]
} | I'm feeling stuffy and I'm worried about the little greenery in the room, what should I do to freshen up the space and keep the plant happy? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sliding_door",
"object_id": "1752654913_c64_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "sliding_door",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752655020_01 | scene_00148 | 1752655020 | real | real_world_data/scene_00148/viewpoints/1752655020/panoImage_1600.jpg | bedroom | A spacious and luxurious bedroom suite featuring a large bed, a walk-in closet with glass sliding doors, and a direct connection to a marble bathroom. | {
"text": "Wake up to a bright, cool morning by letting in light and lowering the temperature.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "let in some natural light"
},
{
"id": "N2",
"text": "cool down the room"
}
]
} | I want to wake up to a bright, cool morning without using any manual controls, but I need to use what's actually visible in the room—what should I do? | I want to... | {
"nodes": [
{
"node_id": "n1",
"object": "blinds",
"object_id": "1752655020_c15",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_id":... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655020_03 | scene_00148 | 1752655020 | real | real_world_data/scene_00148/viewpoints/1752655020/panoImage_1600.jpg | bedroom | A spacious and luxurious bedroom suite featuring a large bed, a walk-in closet with glass sliding doors, and a direct connection to a marble bathroom. | {
"text": "Organize a small item in the bedside storage and brighten the room with daylight.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N5",
"text": "store a small personal item"
},
{
"id": "N1",
"text": "let in some natural light"
}
]
} | I'm feeling a bit disorganized and the space feels too dim; what's the best way to secure my little keepsake in the nearby storage while also letting the sun in to brighten up the room? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1752655020_c90",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "bedside_table",
"object_id": "... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654882_01 | scene_00148 | 1752654882 | real | real_world_data/scene_00148/viewpoints/1752654882/panoImage_1600.jpg | bedroom | A spacious, modern luxury bedroom featuring a large bed with a light blue bench at the foot, dominated by floor-to-ceiling curved glass sliding doors that open to a balcony with city views. The room is brightly lit by natural daylight and recessed ceiling lights, maintaining a pristine and airy atmosphere. | {
"text": "I want to cool down the room and enjoy the city view on the balcony.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "adjust the room temperature"
},
{
"id": "N2",
"text": "see the city view"
}
]
} | I'm feeling a bit stuffy and I really want to enjoy the view outside; how can I make this room more comfortable and open up the space to the outdoors? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1752654882_c111",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "sliding_door",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654882_02 | scene_00148 | 1752654882 | real | real_world_data/scene_00148/viewpoints/1752654882/panoImage_1600.jpg | bedroom | A spacious, modern luxury bedroom featuring a large bed with a light blue bench at the foot, dominated by floor-to-ceiling curved glass sliding doors that open to a balcony with city views. The room is brightly lit by natural daylight and recessed ceiling lights, maintaining a pristine and airy atmosphere. | {
"text": "Get a fresh change of clothes from the wardrobe and prepare for sleep.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "retrieve a fresh change of clothes"
},
{
"id": "N5",
"text": "dim the lights for sleep"
}
]
} | I'm feeling tired and ready to wind down, but I need to grab some fresh clothes first; what's the best way to handle this in this room? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1752654882_c75",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id": "1752654882... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654882_03 | scene_00148 | 1752654882 | real | real_world_data/scene_00148/viewpoints/1752654882/panoImage_1600.jpg | bedroom | A spacious, modern luxury bedroom featuring a large bed with a light blue bench at the foot, dominated by floor-to-ceiling curved glass sliding doors that open to a balcony with city views. The room is brightly lit by natural daylight and recessed ceiling lights, maintaining a pristine and airy atmosphere. | {
"text": "Water the indoor plant and vacuum the carpet to maintain a clean space.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "keep the indoor plant healthy"
},
{
"id": "N6",
"text": "keep the living floor clean"
}
]
} | I want to make sure my greenery looks vibrant and the soft flooring feels fresh; what steps should I take to achieve this? | want | {
"nodes": [
{
"node_id": "n1",
"object": "indoor_plant",
"object_id": "1752654882_c149",
"action": "water",
"category": "Plants & Greenery",
"init_state": {
"watered": false
}
},
{
"node_id": "n2",
"object": "carpet",
"object_id": "17526... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655126_01 | scene_00148 | 1752655126 | real | real_world_data/scene_00148/viewpoints/1752655126/panoImage_1600.jpg | bathroom | A spacious, high-end bathroom with marble walls and flooring, featuring a glass-enclosed shower, a double vanity with under-cabinet lighting, and a toilet area, illuminated by warm recessed ceiling lights. | {
"text": "Refresh my face and then take a hot shower to relax after a long day.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "wash hands and face"
},
{
"id": "N2",
"text": "take a hot shower"
}
]
} | After a long and tiring day, I need to freshen up and then soak in a hot bath to unwind, but I'm not sure which fixtures in this bathroom I should use first to get the water running for each step—what's the correct sequence? | after | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1752655126_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "washbasin",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655126_02 | scene_00148 | 1752655126 | real | real_world_data/scene_00148/viewpoints/1752655126/panoImage_1600.jpg | bathroom | A spacious, high-end bathroom with marble walls and flooring, featuring a glass-enclosed shower, a double vanity with under-cabinet lighting, and a toilet area, illuminated by warm recessed ceiling lights. | {
"text": "Water the plant on the counter and then wash my hands with soap.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N4",
"text": "water the houseplant"
},
{
"id": "N1",
"text": "wash hands and face"
}
]
} | I'm feeling a bit fresh and clean, but I also want to make sure my little green friend in the room gets some love before I head out; what's the best way to take care of both using the fixtures I see here? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "indoor_plant",
"object_id": "1752655126_c149",
"action": "water",
"category": "Plants & Greenery",
"init_state": {
"watered": false
}
},
{
"node_id": "n2",
"object": "washbasin",
"object_id": "17... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752655126_03 | scene_00148 | 1752655126 | real | real_world_data/scene_00148/viewpoints/1752655126/panoImage_1600.jpg | bathroom | A spacious, high-end bathroom with marble walls and flooring, featuring a glass-enclosed shower, a double vanity with under-cabinet lighting, and a toilet area, illuminated by warm recessed ceiling lights. | {
"text": "Retrieve a fresh towel and then check my hair in the mirror.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "find a clean towel"
},
{
"id": "N5",
"text": "check appearance in mirror"
}
]
} | I'm feeling a bit disheveled and need to freshen up before heading out, so how do I grab a clean towel and take a look at myself without making a mess of the room? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1752655126_c89_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "cabinet",
"object_id": "175265512... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752654988_01 | scene_00148 | 1752654988 | real | real_world_data/scene_00148/viewpoints/1752654988/panoImage_1600.jpg | bedroom | A spacious, high-end master suite featuring a large bed with a teal headboard, a walk-in closet with glass sliding doors, and a visible en-suite bathroom area. | {
"text": "Wake up to a bright room and choose your outfit for the day.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "brighten the room for morning"
},
{
"id": "N2",
"text": "get dressed for the day"
}
]
} | I'm waking up and need to brighten the room before I can see my clothes to get dressed, but I can't figure out how to let the light in or access my outfit options—what should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752654988_c9",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "blinds",
"object_id": ... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654988_02 | scene_00148 | 1752654988 | real | real_world_data/scene_00148/viewpoints/1752654988/panoImage_1600.jpg | bedroom | A spacious, high-end master suite featuring a large bed with a teal headboard, a walk-in closet with glass sliding doors, and a visible en-suite bathroom area. | {
"text": "Organize your personal effects and ensure the decorative greenery remains healthy.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N3",
"text": "store personal items securely"
},
{
"id": "N4",
"text": "keep the houseplant hydrated"
}
]
} | I'm feeling a bit scattered in my bedroom; how can I safely tuck away my loose personal items and also make sure the decorative greenery is well cared for? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1752654988_c90",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "sundries",
"object_id": "17526... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752654988_03 | scene_00148 | 1752654988 | real | real_world_data/scene_00148/viewpoints/1752654988/panoImage_1600.jpg | bedroom | A spacious, high-end master suite featuring a large bed with a teal headboard, a walk-in closet with glass sliding doors, and a visible en-suite bathroom area. | {
"text": "Prepare the sleeping area with a cool atmosphere and natural light.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N5",
"text": "prepare a cool sleeping environment"
},
{
"id": "N1",
"text": "brighten the room for morning"
}
]
} | I'm feeling a bit stuffy and it's getting dark in here, so what should I do to cool down the room and let in some daylight? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1752654988_c111",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "curtain",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752655054_01 | scene_00148 | 1752655054 | real | real_world_data/scene_00148/viewpoints/1752655054/panoImage_1600.jpg | bathroom | A spacious, modern bathroom featuring white marble walls, a glass-enclosed shower, and a floating vanity, with a clear line of sight into an adjoining bedroom area. | {
"text": "Wash my face and check my reflection before heading to work.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "freshen up face"
},
{
"id": "N5",
"text": "check appearance"
}
]
} | I'm feeling a bit rough around the edges before work, so I need to freshen up my face and make sure I look presentable, but what do I use to do that? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1752655054_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "washbasin",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752655054_03 | scene_00148 | 1752655054 | real | real_world_data/scene_00148/viewpoints/1752655054/panoImage_1600.jpg | bathroom | A spacious, modern bathroom featuring white marble walls, a glass-enclosed shower, and a floating vanity, with a clear line of sight into an adjoining bedroom area. | {
"text": "Relieve myself and then water the plant on the counter to keep it healthy.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "relieve bodily waste"
},
{
"id": "N4",
"text": "keep the plant alive"
}
]
} | I'm feeling the urge to go to the restroom, and while I'm in there I'd like to take a moment to tend to that little green friend on the vanity—what's the best way to handle both of these things? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "toilet",
"object_id": "1752655054_c137",
"action": "open",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"lid": "closed"
}
},
{
"node_id": "n2",
"object": "toilet",
"obje... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655163_01 | scene_00148 | 1752655163 | real | real_world_data/scene_00148/viewpoints/1752655163/panoImage_1600.jpg | bedroom | A modern, bright master bedroom featuring a large central bed with a bay window seat, connected to an en-suite bathroom area with visible cabinetry and a toilet. | {
"text": "Let the morning light into the bedroom and tidy the sleeping area.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "let natural light in"
}
]
} | I'm feeling groggy and need to wake up properly with some brightness, so what steps should I take to brighten the room and refresh the floor area? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752655163_c9_i1",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655163_02 | scene_00148 | 1752655163 | real | real_world_data/scene_00148/viewpoints/1752655163/panoImage_1600.jpg | bedroom | A modern, bright master bedroom featuring a large central bed with a bay window seat, connected to an en-suite bathroom area with visible cabinetry and a toilet. | {
"text": "Clean the floor covering in the bedroom and use the restroom.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "clean the floor rug"
},
{
"id": "N3",
"text": "go to the bathroom"
}
]
} | I'm feeling a bit untidy and need to freshen up; what should I do to make the bedroom floor look clean again and then use the facilities nearby? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "carpet",
"object_id": "1752655163_c143",
"action": "vacuum",
"category": "Textiles & Soft Furnishings",
"init_state": {}
},
{
"node_id": "n2",
"object": "sliding_door",
"object_id": "1752655163_c64",
"ac... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 2,
"planner_ops": 6,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655096_02 | scene_00148 | 1752655096 | real | real_world_data/scene_00148/viewpoints/1752655096/panoImage_1600.jpg | hotel suite | A spacious, modern hotel suite featuring an open-plan layout with a bright bedroom and a marble-clad en-suite bathroom, accented by warm wood cabinetry and soft natural light. | {
"text": "Start a hot shower and ensure the decorative plants receive some water.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "relax in a warm shower"
},
{
"id": "N4",
"text": "water the decorative plants"
}
]
} | I'm feeling a bit stiff and the greenery in here looks a bit dry, so what should I do to refresh myself and take care of the decor at the same time? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "shower_room",
"object_id": "1752655096_c141",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "indoor_plant",
"object_id": "175... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00148_1752655192_01 | scene_00148 | 1752655192 | real | real_world_data/scene_00148/viewpoints/1752655192/panoImage_1600.jpg | bedroom | A spacious and pristine bedroom featuring a large bed with white linens, a curved bay window seat, and a visible walk-in closet area. The room is brightly lit by natural light streaming through the window, creating a calm and airy atmosphere. | {
"text": "Let the morning light in and make the room feel fresh and airy.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "brighten up the room"
},
{
"id": "N2",
"text": "refresh the air"
}
]
} | I'm feeling a bit stuffy and gloomy this morning, and I want the space to feel open and vibrant—what steps should I take to let the natural elements in? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752655192_c9_i2",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "curtain",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00148_1752655192_03 | scene_00148 | 1752655192 | real | real_world_data/scene_00148/viewpoints/1752655192/panoImage_1600.jpg | bedroom | A spacious and pristine bedroom featuring a large bed with white linens, a curved bay window seat, and a visible walk-in closet area. The room is brightly lit by natural light streaming through the window, creating a calm and airy atmosphere. | {
"text": "Make the room feel crisp by adding a breeze and keeping the floor tidy.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "refresh the air"
},
{
"id": "N4",
"text": "keep the floor clean"
}
]
} | I'm feeling stuffy and a bit messy, so I need a way to bring in some fresh air and make sure the floor underneath looks spotless; what steps should I take to achieve this? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "curtain",
"object_id": "1752655192_c9_i2",
"action": "open",
"category": "Textiles & Soft Furnishings",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "bay_window",
"objec... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161700_02 | scene_00790 | 1755161700 | real | real_world_data/scene_00790/viewpoints/1755161700/panoImage_1600.jpg | bedroom | A spacious, empty bedroom with light wood flooring, white walls, and a large bay window that opens to an outdoor balcony. The room features recessed ceiling lighting and a central air conditioning system. | {
"text": "The room feels stuffy, so I'd like to cool it down and prepare to exit.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "cool down the room"
},
{
"id": "N3",
"text": "leave the room"
}
]
} | I'm feeling really hot and stuffy in this bedroom, and I'm about to head out—what's the best way to quickly bring the temperature down and make my way to the exit? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1755161700_c111_i1",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "central_air_... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161700_03 | scene_00790 | 1755161700 | real | real_world_data/scene_00790/viewpoints/1755161700/panoImage_1600.jpg | bedroom | A spacious, empty bedroom with light wood flooring, white walls, and a large bay window that opens to an outdoor balcony. The room features recessed ceiling lighting and a central air conditioning system. | {
"text": "I need to lower the temperature in here and let some fresh air in.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N2",
"text": "cool down the room"
},
{
"id": "N1",
"text": "let in fresh air"
}
]
} | I'm feeling a bit too warm and the air seems stale, so what should I do to cool things down and get some fresh air flowing in? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bay_window",
"object_id": "1755161700_c69",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "central_air_conditioner",
"ob... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161668_03 | scene_00790 | 1755161668 | real | real_world_data/scene_00790/viewpoints/1755161668/panoImage_1600.jpg | bedroom | A spacious, modern bedroom with light wood flooring and white walls, featuring a large bay window that overlooks a city skyline and a closed white swing door leading to an adjacent corridor. | {
"text": "Use the restroom, then exit to the hallway and close the door behind you.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "use the restroom"
},
{
"id": "N3",
"text": "access the hallway"
}
]
} | I just got back from a long day and need to use the facilities in that room ahead of me, but I also want to make sure the space is properly secured before I head out to the hallway—what's the right way to handle this? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "toilet",
"object_id": "1755161668_c137",
"action": "open",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"lid": "closed"
}
},
{
"node_id": "n2",
"object": "toilet",
"obje... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161788_01 | scene_00790 | 1755161788 | real | real_world_data/scene_00790/viewpoints/1755161788/panoImage_1600.jpg | living_room | A spacious, modern living area featuring a polished grey marble floor and a curved ceiling with recessed cove lighting. The space is defined by a large floor-to-ceiling window, a prominent marble feature wall, and built-in white cabinetry, creating a bright and luxurious atmosphere. | {
"text": "Refresh the air in the living area and cool the temperature for comfort.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "breathe in fresh air"
},
{
"id": "N2",
"text": "regulate the room temperature"
}
]
} | I'm feeling stuffy and warm in the living room, what should I do to get some fresh air and bring the temperature down using the available features in this space? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "floor_to_ceiling_window",
"object_id": "1755161788_c68",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "central_air_conditione... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161788_03 | scene_00790 | 1755161788 | real | real_world_data/scene_00790/viewpoints/1755161788/panoImage_1600.jpg | living_room | A spacious, modern living area featuring a polished grey marble floor and a curved ceiling with recessed cove lighting. The space is defined by a large floor-to-ceiling window, a prominent marble feature wall, and built-in white cabinetry, creating a bright and luxurious atmosphere. | {
"text": "Put the heavy suitcase away in the storage cabinet to clear the floor.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "store a heavy suitcase"
}
]
} | I need to clear the floor of bulky luggage, but I'm not sure where to tuck it away in this space—what's the best storage solution I can use to get it off the ground? | need | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1755161788_c75",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id": "1755161788... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161734_01 | scene_00790 | 1755161734 | real | real_world_data/scene_00790/viewpoints/1755161734/panoImage_1600.jpg | hallway | A spacious and modern interior hallway featuring polished marble flooring and cream-colored walls. The space is well-lit by recessed ceiling downlights and connects multiple rooms, including a bedroom with a balcony and a bathroom, through white-framed doorways. | {
"text": "Get ready for the day by checking my look and refreshing my face.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "check appearance before leaving"
},
{
"id": "N2",
"text": "wash hands and face"
}
]
} | I'm feeling a bit disheveled and need to freshen up before heading out; what should I do to check my look and clean up my face? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "swing_door",
"object_id": "1755161734_c62_i2",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "washbasin",
"object_id": "... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161734_02 | scene_00790 | 1755161734 | real | real_world_data/scene_00790/viewpoints/1755161734/panoImage_1600.jpg | hallway | A spacious and modern interior hallway featuring polished marble flooring and cream-colored walls. The space is well-lit by recessed ceiling downlights and connects multiple rooms, including a bedroom with a balcony and a bathroom, through white-framed doorways. | {
"text": "Organize the hallway by putting my heavy winter coat away in the closet.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "store winter coats away"
}
]
} | I need to get my bulky winter coat off the hook and put it somewhere out of sight to declutter the hallway, what should I do with the storage options I see here? | need | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1755161734_c75",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id": "1755161734... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 1,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161734_03 | scene_00790 | 1755161734 | real | real_world_data/scene_00790/viewpoints/1755161734/panoImage_1600.jpg | hallway | A spacious and modern interior hallway featuring polished marble flooring and cream-colored walls. The space is well-lit by recessed ceiling downlights and connects multiple rooms, including a bedroom with a balcony and a bathroom, through white-framed doorways. | {
"text": "Prepare the bedroom for a restful night by cooling it down and bringing in fresh air.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "cool down the bedroom"
},
{
"id": "N5",
"text": "let fresh air in"
}
]
} | I'm feeling a bit warm and the air feels stale, so I need to get the room ready for a restful night's sleep; what steps should I take to cool it down and let some fresh air in? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "swing_door",
"object_id": "1755161734_c62_i3",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "central_air_conditioner",
... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161814_01 | scene_00790 | 1755161814 | real | real_world_data/scene_00790/viewpoints/1755161814/panoImage_1600.jpg | kitchen | A spacious, modern open-plan kitchen and living area featuring high-end white cabinetry, glossy marble flooring, and recessed lighting. The layout is bright and minimalist, with a visible entrance door and a large sliding partition separating the cooking zone from the living space. | {
"text": "Retrieve fresh produce from the pantry and start cooking a warm dinner.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "cook dinner"
},
{
"id": "N2",
"text": "store cooking ingredients"
}
]
} | I'm craving a warm home-cooked meal and need to get everything ready in the kitchen, but I'm not sure where to start with my ingredients and appliances, what should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1755161814_c87_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "kitchen_cabinet",
"object... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161814_02 | scene_00790 | 1755161814 | real | real_world_data/scene_00790/viewpoints/1755161814/panoImage_1600.jpg | kitchen | A spacious, modern open-plan kitchen and living area featuring high-end white cabinetry, glossy marble flooring, and recessed lighting. The layout is bright and minimalist, with a visible entrance door and a large sliding partition separating the cooking zone from the living space. | {
"text": "Enter the home and improve air circulation by opening the large windows.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N4",
"text": "let fresh air in"
},
{
"id": "N5",
"text": "enter the home"
}
]
} | I just got home and the air feels really stale; what should I do to get some fresh breeze circulating through the space? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "security_door",
"object_id": "1755161814_c63",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "casement_window",
"object_... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 6,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161840_01 | scene_00790 | 1755161840 | real | real_world_data/scene_00790/viewpoints/1755161840/panoImage_1600.jpg | kitchen | A spacious, L-shaped modern kitchen featuring high-gloss white cabinetry and a black integrated appliance wall, illuminated by bright recessed ceiling lights and connected to a hallway via a large glass sliding door. | {
"text": "Prepare a meal with ventilation and clean up the dishes afterwards.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "start cooking on the stove"
},
{
"id": "N3",
"text": "ventilate the room with fresh air"
},
{
"id": "N2",
"text": "... | I want to prepare a home-cooked meal in this space. What is the best sequence of steps I should take to ensure the air stays fresh while I'm cooking and that everything is left clean and safe afterwards? | want | {
"nodes": [
{
"node_id": "n1",
"object": "gas_stove",
"object_id": "1755161840_c118",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "cooker_hood",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161840_02 | scene_00790 | 1755161840 | real | real_world_data/scene_00790/viewpoints/1755161840/panoImage_1600.jpg | kitchen | A spacious, L-shaped modern kitchen featuring high-gloss white cabinetry and a black integrated appliance wall, illuminated by bright recessed ceiling lights and connected to a hallway via a large glass sliding door. | {
"text": "Store fresh groceries away and adjust the room to a comfortable temperature.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "store fresh ingredients for later"
},
{
"id": "N5",
"text": "adjust the room temperature"
}
]
} | I just got back from the supermarket with fresh produce and the kitchen feels a bit stuffy, so what should I do to properly put everything away and make the space more comfortable? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1755161840_c87_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "kitchen_cabinet",
"object... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161840_03 | scene_00790 | 1755161840 | real | real_world_data/scene_00790/viewpoints/1755161840/panoImage_1600.jpg | kitchen | A spacious, L-shaped modern kitchen featuring high-gloss white cabinetry and a black integrated appliance wall, illuminated by bright recessed ceiling lights and connected to a hallway via a large glass sliding door. | {
"text": "Open the space to the hallway and start cooking for the evening.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N1",
"text": "start cooking on the stove"
},
{
"id": "N3",
"text": "ventilate the room with fresh air"
}
]
} | I'm feeling like getting the kitchen ready for dinner but the air feels stuffy, so what steps should I take to let some fresh air in and get the cooking area active? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sliding_door",
"object_id": "1755161840_c64",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "casement_window",
"object_i... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 0,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161760_01 | scene_00790 | 1755161760 | real | real_world_data/scene_00790/viewpoints/1755161760/panoImage_1600.jpg | bathroom | A pristine, modern bathroom featuring light grey marble walls and floors, with a glass-enclosed shower, a sleek white toilet, and a vanity with an illuminated mirror. The space is well-lit by recessed ceiling lights, creating a bright and clean atmosphere. | {
"text": "Refresh myself with a warm shower and wash my face afterwards.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N2",
"text": "take a warm shower"
},
{
"id": "N1",
"text": "freshen up face and hands"
}
]
} | I'm feeling a bit stiff and need to freshen up completely, but I'm not sure which fixtures in this bathroom I should use in what order to get both a good rinse and a clean face without leaving any water running. What should I do? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "shower_room",
"object_id": "1755161760_c141",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "shower_room",
"object_id": "1755... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161760_02 | scene_00790 | 1755161760 | real | real_world_data/scene_00790/viewpoints/1755161760/panoImage_1600.jpg | bathroom | A pristine, modern bathroom featuring light grey marble walls and floors, with a glass-enclosed shower, a sleek white toilet, and a vanity with an illuminated mirror. The space is well-lit by recessed ceiling lights, creating a bright and clean atmosphere. | {
"text": "I need to check my grooming appearance and wash my hands.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "check grooming appearance"
},
{
"id": "N1",
"text": "freshen up face and hands"
}
]
} | I'm feeling a bit unkempt and my hands are sticky, so how can I freshen up and see how I look in this space? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "mirror",
"object_id": "1755161760_c12",
"action": "pick_up",
"category": "Decorative Objects",
"init_state": {}
},
{
"node_id": "n2",
"object": "washbasin",
"object_id": "1755161760_c134",
"action": "tur... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 5,
"planner_edges": 3,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161760_03 | scene_00790 | 1755161760 | real | real_world_data/scene_00790/viewpoints/1755161760/panoImage_1600.jpg | bathroom | A pristine, modern bathroom featuring light grey marble walls and floors, with a glass-enclosed shower, a sleek white toilet, and a vanity with an illuminated mirror. The space is well-lit by recessed ceiling lights, creating a bright and clean atmosphere. | {
"text": "Warm up the room and find a fresh towel for after my bath.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N4",
"text": "warm up the cold room"
},
{
"id": "N5",
"text": "find a clean towel"
}
]
} | I'm feeling a bit chilly and I need to be ready for a warm bath, so what's the best way to make the room cozier and grab a fresh towel without me having to hunt around? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bath_heater",
"object_id": "1755161760_c116",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "wardrobe",
"object_id... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161926_01 | scene_00790 | 1755161926 | real | real_world_data/scene_00790/viewpoints/1755161926/panoImage_1600.jpg | living_room | A spacious, modern living area featuring a polished grey marble floor and a striking curved accent wall with white marble veining. The room is illuminated by warm recessed cove lighting and natural light from a large glass window leading to a balcony. | {
"text": "Ventilate the room and cool down the atmosphere before relaxing on the balcony.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "let fresh air in"
},
{
"id": "N2",
"text": "cool down the room"
},
{
"id": "N5",
"text": "go to the bal... | I'm feeling a bit stuffy and need to freshen up the air before heading out to the balcony, so what steps should I take to get the room cooled down and accessible? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "floor_to_ceiling_window",
"object_id": "1755161926_c68",
"action": "open",
"category": "Openable Objects",
"init_state": {
"position": "closed"
}
},
{
"node_id": "n2",
"object": "central_air_conditione... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161926_02 | scene_00790 | 1755161926 | real | real_world_data/scene_00790/viewpoints/1755161926/panoImage_1600.jpg | living_room | A spacious, modern living area featuring a polished grey marble floor and a striking curved accent wall with white marble veining. The room is illuminated by warm recessed cove lighting and natural light from a large glass window leading to a balcony. | {
"text": "Grab a few items from the kitchen before heading out for the day.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "retrieve kitchen supplies"
},
{
"id": "N4",
"text": "exit the apartment"
}
]
} | I'm heading out in a bit and need to quickly grab a few supplies from the kitchen area on the left—what's the best way to get what I need and then make my way to the exit? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1755161926_c87_i1",
"action": "open",
"category": "Openable Objects",
"init_state": {
"door": "closed"
}
},
{
"node_id": "n2",
"object": "kitchen_cabinet",
"object... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161900_02 | scene_00790 | 1755161900 | real | real_world_data/scene_00790/viewpoints/1755161900/panoImage_1600.jpg | living_room | A spacious, modern living area featuring polished marble flooring, a prominent marble feature wall, and a large floor-to-ceiling window overlooking a balcony. The space is divided by a hallway and open entryways leading to a kitchen and utility areas. | {
"text": "Lower the temperature and begin preparing a meal in the kitchen.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N5",
"text": "cool down the room"
},
{
"id": "N2",
"text": "start cooking dinner"
}
]
} | I'm feeling a bit warm and hungry, so what should I do to cool down the room and get the kitchen ready for cooking dinner? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "central_air_conditioner",
"object_id": "1755161900_c111_i1",
"action": "power_on",
"category": "Electronics & Appliances",
"init_state": {
"power": "off"
}
},
{
"node_id": "n2",
"object": "central_air_... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 0,
"difficulty": "medium",
"state_validated": true
} |
scene_00790_1755161900_03 | scene_00790 | 1755161900 | real | real_world_data/scene_00790/viewpoints/1755161900/panoImage_1600.jpg | living_room | A spacious, modern living area featuring polished marble flooring, a prominent marble feature wall, and a large floor-to-ceiling window overlooking a balcony. The space is divided by a hallway and open entryways leading to a kitchen and utility areas. | {
"text": "Check your look in the mirror and then head to the kitchen.",
"difficulty": "easy",
"sub_goals": [
{
"id": "N3",
"text": "check appearance in mirror"
},
{
"id": "N4",
"text": "enter the kitchen"
}
]
} | I'm getting ready to start cooking and want to make sure I look presentable first—what's the best way to check myself before heading into the kitchen? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "mirror",
"object_id": "1755161900_c12_i1",
"action": "pick_up",
"category": "Decorative Objects",
"init_state": {}
},
{
"node_id": "n2",
"object": "swing_door",
"object_id": "1755161900_c62",
"action": "... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 1,
"difficulty": "easy",
"state_validated": true
} |
scene_00790_1755161869_01 | scene_00790 | 1755161869 | real | real_world_data/scene_00790/viewpoints/1755161869/panoImage_1600.jpg | kitchen | A spacious, modern kitchen featuring a curved white countertop island and glossy grey floor tiles, illuminated by recessed ceiling downlights. The space is clean and uncluttered, equipped with built-in appliances and large windows providing natural light. | {
"text": "Prepare the kitchen for a meal by washing dishes and getting dinner ready.",
"difficulty": "medium",
"sub_goals": [
{
"id": "N1",
"text": "clean the dishes"
},
{
"id": "N5",
"text": "start cooking food"
}
]
} | I need to get the dinner prep area ready for cooking, but I want to make sure I've handled the cleanup from earlier first. What's the proper sequence of steps I should follow using the available fixtures? | need | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1755161869_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"init_state": {
"is_empty": true,
"faucet": "off"
}
},
{
"node_id": "n2",
"object": "kitchen_sin... | {
"pipeline_version": "goal_first_hierarchical_dag_v3_combined_grounding_goal_plan_batch_bbox_clean",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true
} |
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