id stringlengths 9 11 | tier stringclasses 3
values | n_robots int64 1 3 | camera stringclasses 2
values | question_type stringclasses 19
values | family stringclasses 14
values | question stringlengths 27 157 | options unknown | answer stringclasses 4
values | answer_text stringlengths 1 87 | n_options int64 2 4 | chance float64 0.25 0.5 | prompt stringlengths 198 649 | video stringlengths 25 60 | video_duration_s float64 3.75 23.4 | robots listlengths 1 3 | gold_class stringclasses 27
values | meta_json stringlengths 2 260 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
easy_0001 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A study",
"B": "A living room",
"C": "A bedroom",
"D": "A kitchen"
} | B | A living room | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A study
B. A living room
C. A bedroom
D. A kitchen
Answer with the letter of the correct option only. | videos/easy/living_room4_stack_right_bowl_place_them.mp4 | 12.1 | [
{
"position": "only",
"task_id": "living_room4_stack_right_bowl_place_them",
"instruction": "stack the right bowl on the left bowl and place them in the tray",
"room": "living room",
"scene": "living_room4",
"finish_s": 11.6
}
] | living_room | {} |
easy_0002 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Black bowl",
"B": "White mug",
"C": "Butter",
"D": "Chocolate pudding"
} | A | Black bowl | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Black bowl
B. White mug
C. Butter
D. Chocolate pudding
Answer with the letter of the correct option only. | videos/easy/kitchen10_close_top_drawer_put_black.mp4 | 10.4 | [
{
"position": "only",
"task_id": "kitchen10_close_top_drawer_put_black",
"instruction": "close the top drawer of the cabinet and put the black bowl on top of it",
"room": "kitchen",
"scene": "kitchen10",
"finish_s": 9.9
}
] | {"object": "black bowl", "decoys": ["chocolate pudding", "butter", "white mug"], "n_decoys_present": 2} | |
easy_0003 | easy | 1 | fixed | destination | goal_location | Where does the robot place the alphabet soup? | {
"A": "To the left of the plate",
"B": "In the basket",
"C": "To the right of the plate",
"D": "In the tray"
} | B | In the basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot place the alphabet soup?
A. To the left of the plate
B. In the basket
C. To the right of the plate
D. In the tray
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_alphabet_soup_put_basket.mp4 | 8.25 | [
{
"position": "only",
"task_id": "living_room1_pick_alphabet_soup_put_basket",
"instruction": "pick up the alphabet soup and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 7.75
}
] | {"object": "alphabet soup", "destination": "in the basket", "decoys": ["to the left of the plate", "in the tray", "to the right of the plate"]} | |
easy_0004 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the right (from the camera's point of view)? | {
"A": "Book",
"B": "Red mug",
"C": "White mug",
"D": "Caddy"
} | B | Red mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the right (from the camera's point of view)?
A. Book
B. Red mug
C. White mug
D. Caddy
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_front.mp4 | 8.55 | [
{
"position": "only",
"task_id": "study3_pick_book_place_front",
"instruction": "pick up the book and place it in the front compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 8.05
}
] | rightmost | {"objects": [{"phrase": "caddy", "px": 147.1, "world_x": -0.3964}, {"phrase": "white mug", "px": 185.5, "world_x": -0.2001}, {"phrase": "red mug", "px": 243.9, "world_x": -0.0076}, {"phrase": "book", "px": 135.6, "world_x": -0.2218}]} |
easy_0005 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "Black bowl",
"B": "White mug",
"C": "Frying pan",
"D": "Moka pot"
} | A | Black bowl | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. Black bowl
B. White mug
C. Frying pan
D. Moka pot
Answer with the letter of the correct option only. | videos/easy/kitchen5_put_ketchup_top.mp4 | 10.55 | [
{
"position": "only",
"task_id": "kitchen5_put_ketchup_top",
"instruction": "put the ketchup in the top drawer of the cabinet",
"room": "kitchen",
"scene": "kitchen5",
"finish_s": 10.05
}
] | present | {"present": ["black bowl", "ketchup", "plate"], "decoy_pool": ["white mug", "frying pan", "moka pot"]} |
easy_0006 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A bedroom",
"B": "A living room",
"C": "A kitchen",
"D": "A study"
} | D | A study | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A bedroom
B. A living room
C. A kitchen
D. A study
Answer with the letter of the correct option only. | videos/easy/study3_pick_red_mug_place_right.mp4 | 6.5 | [
{
"position": "only",
"task_id": "study3_pick_red_mug_place_right",
"instruction": "pick up the red mug and place it to the right compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 6
}
] | study | {} |
easy_0007 | easy | 1 | fixed | room | scene_recognition | Where is the robot working? | {
"A": "A bedroom",
"B": "A living room",
"C": "A kitchen",
"D": "A study"
} | D | A study | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where is the robot working?
A. A bedroom
B. A living room
C. A kitchen
D. A study
Answer with the letter of the correct option only. | videos/easy/study3_pick_white_mug_place_right.mp4 | 6.15 | [
{
"position": "only",
"task_id": "study3_pick_white_mug_place_right",
"instruction": "pick up the white mug and place it to the right compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 5.65
}
] | study | {} |
easy_0008 | easy | 1 | fixed | operation | state_change | Which of the following does the robot do? | {
"A": "Closes the top drawer of the cabinet",
"B": "Opens the top drawer of the cabinet",
"C": "Opens the bottom drawer of the cabinet",
"D": "Closes the bottom drawer of the cabinet"
} | B | Opens the top drawer of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following does the robot do?
A. Closes the top drawer of the cabinet
B. Opens the top drawer of the cabinet
C. Opens the bottom drawer of the cabinet
D. Closes the bottom drawer of the cabinet
Answer with the letter of the correct option onl... | videos/easy/kitchen1_open_top_drawer_put_bowl.mp4 | 10 | [
{
"position": "only",
"task_id": "kitchen1_open_top_drawer_put_bowl",
"instruction": "open the top drawer of the cabinet and put the bowl in it",
"room": "kitchen",
"scene": "kitchen1",
"finish_s": 9.5
}
] | {"operation": ["open", "top drawer of the cabinet"], "decoys": [["close", "bottom drawer of the cabinet"], ["open", "bottom drawer of the cabinet"], ["close", "top drawer of the cabinet"]]} | |
easy_0009 | easy | 1 | fixed | action | action_recognition | What is the robot doing in the video? | {
"A": "Picking up the butter and putting it in the tray",
"B": "Picking up the alphabet soup and putting it in the tray",
"C": "Picking up the ketchup and putting it in the tray",
"D": "Picking up the tomato sauce and putting it in the tray"
} | C | Picking up the ketchup and putting it in the tray | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What is the robot doing in the video?
A. Picking up the butter and putting it in the tray
B. Picking up the alphabet soup and putting it in the tray
C. Picking up the ketchup and putting it in the tray
D. Picking up the tomato sauce and putting it in the ... | videos/easy/living_room3_pick_ketchup_put_tray.mp4 | 7.7 | [
{
"position": "only",
"task_id": "living_room3_pick_ketchup_put_tray",
"instruction": "pick up the ketchup and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 7.2
}
] | {"decoys": ["living_room3_pick_alphabet_soup_put_tray", "living_room3_pick_butter_put_tray", "living_room3_pick_tomato_sauce_put_tray"]} | |
easy_0010 | easy | 1 | fixed | action | action_recognition | What is the robot doing in the video? | {
"A": "Picking up the ketchup and putting it in the tray",
"B": "Picking up the cream cheese and putting it in the tray",
"C": "Picking up the butter and putting it in the tray",
"D": "Picking up the alphabet soup and putting it in the tray"
} | B | Picking up the cream cheese and putting it in the tray | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What is the robot doing in the video?
A. Picking up the ketchup and putting it in the tray
B. Picking up the cream cheese and putting it in the tray
C. Picking up the butter and putting it in the tray
D. Picking up the alphabet soup and putting it in the ... | videos/easy/living_room3_pick_cream_cheese_put_tray.mp4 | 8.45 | [
{
"position": "only",
"task_id": "living_room3_pick_cream_cheese_put_tray",
"instruction": "pick up the cream cheese and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 7.95
}
] | {"decoys": ["living_room3_pick_alphabet_soup_put_tray", "living_room3_pick_butter_put_tray", "living_room3_pick_ketchup_put_tray"]} | |
easy_0011 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Putting both the alphabet soup and the tomato sauce in the basket",
"B": "Picking up the milk and putting it in the basket",
"C": "Picking up the orange juice and putting it in the basket",
"D": "Putting both the cream cheese box and the butter in the basket"
} | A | Putting both the alphabet soup and the tomato sauce in the basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Putting both the alphabet soup and the tomato sauce in the basket
B. Picking up the milk and putting it in the basket
C. Picking up the orange juice and putting it in the basket
D. Putting both... | videos/easy/living2_soup_tomato_basket.mp4 | 19.95 | [
{
"position": "only",
"task_id": "living2_soup_tomato_basket",
"instruction": "put both the alphabet soup and the tomato sauce in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 19.45
}
] | {"decoys": ["living_room2_pick_orange_juice_put_basket", "living_room2_pick_milk_put_basket", "living2_cheese_butter_basket"]} | |
easy_0012 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the left (from the camera's point of view)? | {
"A": "Tomato sauce",
"B": "Orange juice",
"C": "Butter",
"D": "Basket"
} | B | Orange juice | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the left (from the camera's point of view)?
A. Tomato sauce
B. Orange juice
C. Butter
D. Basket
Answer with the letter of the correct option only. | videos/easy/living_room2_pick_alphabet_soup_put_basket.mp4 | 7.35 | [
{
"position": "only",
"task_id": "living_room2_pick_alphabet_soup_put_basket",
"instruction": "pick up the alphabet soup and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 6.85
}
] | leftmost | {"objects": [{"phrase": "butter", "px": 209.8, "world_x": 0.0302}, {"phrase": "basket", "px": 269.6, "world_x": 0.0095}, {"phrase": "tomato sauce", "px": 201.1, "world_x": -0.0793}, {"phrase": "orange juice", "px": 123.2, "world_x": -0.0061}]} |
easy_0013 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Picking up the butter and putting it in the tray",
"B": "Picking up the tomato sauce and putting it in the tray",
"C": "Picking up the ketchup and putting it in the tray",
"D": "Picking up the alphabet soup and putting it in the tray"
} | A | Picking up the butter and putting it in the tray | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Picking up the butter and putting it in the tray
B. Picking up the tomato sauce and putting it in the tray
C. Picking up the ketchup and putting it in the tray
D. Picking up the alphabet soup a... | videos/easy/living_room3_pick_butter_put_tray.mp4 | 5.7 | [
{
"position": "only",
"task_id": "living_room3_pick_butter_put_tray",
"instruction": "pick up the butter and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 5.2
}
] | {"decoys": ["living_room3_pick_alphabet_soup_put_tray", "living_room3_pick_tomato_sauce_put_tray", "living_room3_pick_ketchup_put_tray"]} | |
easy_0014 | easy | 1 | fixed | destination | goal_location | At the end of the video, where is the book? | {
"A": "In the left compartment of the caddy",
"B": "In the front compartment of the caddy",
"C": "In the back compartment of the caddy",
"D": "In the right compartment of the caddy"
} | D | In the right compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the end of the video, where is the book?
A. In the left compartment of the caddy
B. In the front compartment of the caddy
C. In the back compartment of the caddy
D. In the right compartment of the caddy
Answer with the letter of the correct option onl... | videos/easy/study2_pick_book_place_right.mp4 | 8.6 | [
{
"position": "only",
"task_id": "study2_pick_book_place_right",
"instruction": "pick up the book and place it in the right compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 8.1
}
] | {"object": "book", "destination": "in the right compartment of the caddy", "decoys": ["in the front compartment of the caddy", "in the left compartment of the caddy", "in the back compartment of the caddy"]} | |
easy_0015 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the right (from the camera's point of view)? | {
"A": "Basket",
"B": "Cream cheese box",
"C": "Tomato sauce",
"D": "Ketchup"
} | A | Basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the right (from the camera's point of view)?
A. Basket
B. Cream cheese box
C. Tomato sauce
D. Ketchup
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_cream_cheese_put_basket.mp4 | 8.6 | [
{
"position": "only",
"task_id": "living_room1_pick_cream_cheese_put_basket",
"instruction": "pick up the cream cheese box and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.1
}
] | rightmost | {"objects": [{"phrase": "cream cheese box", "px": 207.8, "world_x": -0.1272}, {"phrase": "ketchup", "px": 151.4, "world_x": -0.2101}, {"phrase": "basket", "px": 267.7, "world_x": -0.0095}, {"phrase": "tomato sauce", "px": 131.8, "world_x": 0.0876}]} |
easy_0016 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Opening the bottom drawer of the cabinet",
"B": "Opening the top drawer of the cabinet",
"C": "Putting the black bowl on top of the cabinet",
"D": "Putting the black bowl on the plate"
} | D | Putting the black bowl on the plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Opening the bottom drawer of the cabinet
B. Opening the top drawer of the cabinet
C. Putting the black bowl on top of the cabinet
D. Putting the black bowl on the plate
Answer with the letter ... | videos/easy/kitchen1_put_black_bowl.mp4 | 7.4 | [
{
"position": "only",
"task_id": "kitchen1_put_black_bowl",
"instruction": "put the black bowl on the plate",
"room": "kitchen",
"scene": "kitchen1",
"finish_s": 6.9
}
] | {"decoys": ["kitchen1_open_top_drawer", "kitchen1_open_bottom_drawer", "kitchen1_put_black_bowl2"]} | |
easy_0017 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A study",
"B": "A living room",
"C": "A bedroom",
"D": "A kitchen"
} | D | A kitchen | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A study
B. A living room
C. A bedroom
D. A kitchen
Answer with the letter of the correct option only. | videos/easy/kitchen6_put_yellow_white_mug.mp4 | 6.7 | [
{
"position": "only",
"task_id": "kitchen6_put_yellow_white_mug",
"instruction": "put the yellow and white mug to the front of the white mug",
"room": "kitchen",
"scene": "kitchen6",
"finish_s": 6.2
}
] | kitchen | {} |
easy_0018 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the right (from the camera's point of view)? | {
"A": "Tomato sauce",
"B": "Alphabet soup",
"C": "Ketchup",
"D": "Tray"
} | D | Tray | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the right (from the camera's point of view)?
A. Tomato sauce
B. Alphabet soup
C. Ketchup
D. Tray
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_tomato_sauce_put_tray.mp4 | 6.95 | [
{
"position": "only",
"task_id": "living_room3_pick_tomato_sauce_put_tray",
"instruction": "pick up the tomato sauce and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 6.45
}
] | rightmost | {"objects": [{"phrase": "tomato sauce", "px": 202.9, "world_x": -0.1004}, {"phrase": "ketchup", "px": 152.1, "world_x": -0.2458}, {"phrase": "alphabet soup", "px": 153.0, "world_x": -0.1145}, {"phrase": "tray", "px": 268.5, "world_x": 0.0039}]} |
easy_0019 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Picking up the book and placing it in the front compartment of the caddy",
"B": "Picking up the book and placing it in the left compartment of the caddy",
"C": "Picking up the book and placing it in the back compartment of the caddy",
"D": "Picking up the book and placing it in the right compartment of ... | D | Picking up the book and placing it in the right compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Picking up the book and placing it in the front compartment of the caddy
B. Picking up the book and placing it in the left compartment of the caddy
C. Picking up the book and placing it in the back compartment of the... | videos/easy/study1_pick_book_place_right.mp4 | 8.35 | [
{
"position": "only",
"task_id": "study1_pick_book_place_right",
"instruction": "pick up the book and place it in the right compartment of the caddy",
"room": "study",
"scene": "study1",
"finish_s": 7.85
}
] | {"decoys": ["study1_book_caddy", "study1_pick_book_place_left", "study1_pick_book_place_front"]} | |
easy_0020 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A study",
"B": "A kitchen",
"C": "A bedroom",
"D": "A living room"
} | D | A living room | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A study
B. A kitchen
C. A bedroom
D. A living room
Answer with the letter of the correct option only. | videos/easy/living6_mug_plate_pudding.mp4 | 10.7 | [
{
"position": "only",
"task_id": "living6_mug_plate_pudding",
"instruction": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
"room": "living room",
"scene": "living_room6",
"finish_s": 10.2
}
] | living_room | {} |
easy_0021 | easy | 1 | fixed | operation | state_change | Which action does the robot perform? | {
"A": "Opens the top drawer of the cabinet",
"B": "Opens the bottom drawer of the cabinet",
"C": "Closes the bottom drawer of the cabinet",
"D": "Closes the top drawer of the cabinet"
} | A | Opens the top drawer of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which action does the robot perform?
A. Opens the top drawer of the cabinet
B. Opens the bottom drawer of the cabinet
C. Closes the bottom drawer of the cabinet
D. Closes the top drawer of the cabinet
Answer with the letter of the correct option only. | videos/easy/kitchen1_open_top_drawer.mp4 | 9.4 | [
{
"position": "only",
"task_id": "kitchen1_open_top_drawer",
"instruction": "open the top drawer of the cabinet",
"room": "kitchen",
"scene": "kitchen1",
"finish_s": 8.9
}
] | {"operation": ["open", "top drawer of the cabinet"], "decoys": [["close", "bottom drawer of the cabinet"], ["close", "top drawer of the cabinet"], ["open", "bottom drawer of the cabinet"]]} | |
easy_0022 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "Yellow and white mug",
"B": "Moka pot",
"C": "Black bowl",
"D": "Butter"
} | C | Black bowl | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. Yellow and white mug
B. Moka pot
C. Black bowl
D. Butter
Answer with the letter of the correct option only. | videos/easy/kitchen5_put_black_bowl.mp4 | 6.65 | [
{
"position": "only",
"task_id": "kitchen5_put_black_bowl",
"instruction": "put the black bowl in the top drawer of the cabinet",
"room": "kitchen",
"scene": "kitchen5",
"finish_s": 6.15
}
] | present | {"present": ["black bowl", "plate", "ketchup"], "decoy_pool": ["moka pot", "yellow and white mug", "butter"]} |
easy_0023 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Wine bottle",
"B": "Yellow and white mug",
"C": "White mug",
"D": "Ketchup"
} | B | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Wine bottle
B. Yellow and white mug
C. White mug
D. Ketchup
Answer with the letter of the correct option only. | videos/easy/kitchen6_put_yellow_white_mug.mp4 | 6.7 | [
{
"position": "only",
"task_id": "kitchen6_put_yellow_white_mug",
"instruction": "put the yellow and white mug to the front of the white mug",
"room": "kitchen",
"scene": "kitchen6",
"finish_s": 6.2
}
] | {"object": "yellow and white mug", "decoys": ["white mug", "ketchup", "wine bottle"], "n_decoys_present": 1} | |
easy_0024 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Butter",
"B": "Cream cheese box",
"C": "Ketchup",
"D": "Alphabet soup"
} | B | Cream cheese box | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Butter
B. Cream cheese box
C. Ketchup
D. Alphabet soup
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_cream_cheese_put_tray.mp4 | 8.45 | [
{
"position": "only",
"task_id": "living_room3_pick_cream_cheese_put_tray",
"instruction": "pick up the cream cheese and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 7.95
}
] | {"object": "cream cheese box", "decoys": ["butter", "alphabet soup", "ketchup"], "n_decoys_present": 3} | |
easy_0025 | easy | 1 | fixed | action | action_recognition | What is the robot doing in the video? | {
"A": "Turning on the stove",
"B": "Putting the moka pot on the stove",
"C": "Putting the ketchup in the top drawer of the cabinet",
"D": "Putting the frying pan on the stove"
} | B | Putting the moka pot on the stove | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What is the robot doing in the video?
A. Turning on the stove
B. Putting the moka pot on the stove
C. Putting the ketchup in the top drawer of the cabinet
D. Putting the frying pan on the stove
Answer with the letter of the correct option only. | videos/easy/kitchen3_put_moka_pot.mp4 | 7.3 | [
{
"position": "only",
"task_id": "kitchen3_put_moka_pot",
"instruction": "put the moka pot on the stove",
"room": "kitchen",
"scene": "kitchen3",
"finish_s": 6.8
}
] | {"decoys": ["kitchen3_turn_stove", "kitchen3_put_frying_pan", "kitchen5_put_ketchup_top"]} | |
easy_0026 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A bedroom",
"B": "A kitchen",
"C": "A study",
"D": "A living room"
} | B | A kitchen | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A bedroom
B. A kitchen
C. A study
D. A living room
Answer with the letter of the correct option only. | videos/easy/kitchen8_two_moka_pots.mp4 | 23.4 | [
{
"position": "only",
"task_id": "kitchen8_two_moka_pots",
"instruction": "put both moka pots on the stove",
"room": "kitchen",
"scene": "kitchen8",
"finish_s": 22.9
}
] | kitchen | {} |
easy_0027 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Yellow and white mug",
"B": "White bowl",
"C": "White mug",
"D": "Frying pan"
} | D | Frying pan | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Yellow and white mug
B. White bowl
C. White mug
D. Frying pan
Answer with the letter of the correct option only. | videos/easy/kitchen9_put_frying_pan3.mp4 | 9.15 | [
{
"position": "only",
"task_id": "kitchen9_put_frying_pan3",
"instruction": "put the frying pan under the cabinet shelf",
"room": "kitchen",
"scene": "kitchen9",
"finish_s": 8.65
}
] | {"object": "frying pan", "decoys": ["white bowl", "yellow and white mug", "white mug"], "n_decoys_present": 1} | |
easy_0028 | easy | 1 | fixed | object | object_grounding | Which object does the robot pick up? | {
"A": "White mug",
"B": "Red mug",
"C": "Book",
"D": "Yellow and white mug"
} | C | Book | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot pick up?
A. White mug
B. Red mug
C. Book
D. Yellow and white mug
Answer with the letter of the correct option only. | videos/easy/study1_pick_book_place_right.mp4 | 8.35 | [
{
"position": "only",
"task_id": "study1_pick_book_place_right",
"instruction": "pick up the book and place it in the right compartment of the caddy",
"room": "study",
"scene": "study1",
"finish_s": 7.85
}
] | {"object": "book", "decoys": ["yellow and white mug", "red mug", "white mug"], "n_decoys_present": 1} | |
easy_0029 | easy | 1 | fixed | presence | scene_contents | Which of these objects is NOT in the scene? | {
"A": "Black bowl",
"B": "Wine rack",
"C": "Butter",
"D": "Wine bottle"
} | C | Butter | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is NOT in the scene?
A. Black bowl
B. Wine rack
C. Butter
D. Wine bottle
Answer with the letter of the correct option only. | videos/easy/kitchen4_put_black_bowl2.mp4 | 7.9 | [
{
"position": "only",
"task_id": "kitchen4_put_black_bowl2",
"instruction": "put the black bowl on top of the cabinet",
"room": "kitchen",
"scene": "kitchen4",
"finish_s": 7.4
}
] | absent | {"present": ["wine bottle", "black bowl", "wine rack"], "decoy_pool": ["butter", "white mug", "yellow and white mug"]} |
easy_0030 | easy | 1 | fixed | destination | goal_location | Where does the robot place the red mug? | {
"A": "On the plate",
"B": "On the left plate",
"C": "On the right plate",
"D": "In the tray"
} | B | On the left plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot place the red mug?
A. On the plate
B. On the left plate
C. On the right plate
D. In the tray
Answer with the letter of the correct option only. | videos/easy/living_room5_put_red_mug.mp4 | 7.7 | [
{
"position": "only",
"task_id": "living_room5_put_red_mug",
"instruction": "put the red mug on the left plate",
"room": "living room",
"scene": "living_room5",
"finish_s": 7.2
}
] | {"object": "red mug", "destination": "on the left plate", "decoys": ["on the right plate", "on the plate", "in the tray"]} | |
easy_0031 | easy | 1 | fixed | object | object_grounding | Which object does the robot pick up? | {
"A": "Butter",
"B": "White mug",
"C": "Moka pot",
"D": "Yellow and white mug"
} | D | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot pick up?
A. Butter
B. White mug
C. Moka pot
D. Yellow and white mug
Answer with the letter of the correct option only. | videos/easy/kitchen6_mug_microwave.mp4 | 17 | [
{
"position": "only",
"task_id": "kitchen6_mug_microwave",
"instruction": "put the yellow and white mug in the microwave and close it",
"room": "kitchen",
"scene": "kitchen6",
"finish_s": 16.5
}
] | {"object": "yellow and white mug", "decoys": ["white mug", "butter", "moka pot"], "n_decoys_present": 1} | |
easy_0032 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Chocolate pudding",
"B": "Black bowl",
"C": "Wine bottle",
"D": "White bowl"
} | C | Wine bottle | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Chocolate pudding
B. Black bowl
C. Wine bottle
D. White bowl
Answer with the letter of the correct option only. | videos/easy/kitchen4_put_wine_bottle2.mp4 | 16 | [
{
"position": "only",
"task_id": "kitchen4_put_wine_bottle2",
"instruction": "put the wine bottle on the wine rack",
"room": "kitchen",
"scene": "kitchen4",
"finish_s": 15.5
}
] | {"object": "wine bottle", "decoys": ["black bowl", "chocolate pudding", "white bowl"], "n_decoys_present": 1} | |
easy_0033 | easy | 1 | fixed | destination | goal_location | Where does the robot place the book? | {
"A": "In the right compartment of the caddy",
"B": "On the cabinet shelf",
"C": "On top of the shelf",
"D": "Under the cabinet shelf"
} | B | On the cabinet shelf | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot place the book?
A. In the right compartment of the caddy
B. On the cabinet shelf
C. On top of the shelf
D. Under the cabinet shelf
Answer with the letter of the correct option only. | videos/easy/study4_pick_book_right_place_cabinet.mp4 | 5.45 | [
{
"position": "only",
"task_id": "study4_pick_book_right_place_cabinet",
"instruction": "pick up the book on the right and place it on the cabinet shelf",
"room": "study",
"scene": "study4",
"finish_s": 4.95
}
] | {"object": "book", "destination": "on the cabinet shelf", "decoys": ["under the cabinet shelf", "on top of the shelf", "in the right compartment of the caddy"]} | |
easy_0034 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the left (from the camera's point of view)? | {
"A": "Tomato sauce",
"B": "Tray",
"C": "Ketchup",
"D": "Butter"
} | C | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the left (from the camera's point of view)?
A. Tomato sauce
B. Tray
C. Ketchup
D. Butter
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_cream_cheese_put_tray.mp4 | 8.45 | [
{
"position": "only",
"task_id": "living_room3_pick_cream_cheese_put_tray",
"instruction": "pick up the cream cheese and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 7.95
}
] | leftmost | {"objects": [{"phrase": "tomato sauce", "px": 200.2, "world_x": -0.1187}, {"phrase": "ketchup", "px": 155.8, "world_x": -0.2299}, {"phrase": "butter", "px": 201.1, "world_x": 0.0424}, {"phrase": "tray", "px": 267.7, "world_x": 0.0066}]} |
easy_0035 | easy | 1 | fixed | presence | scene_contents | Which of these objects is NOT in the scene? | {
"A": "Chocolate pudding",
"B": "Butter",
"C": "White mug",
"D": "Black bowl"
} | C | White mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is NOT in the scene?
A. Chocolate pudding
B. Butter
C. White mug
D. Black bowl
Answer with the letter of the correct option only. | videos/easy/kitchen10_close_top_drawer_put_black.mp4 | 10.4 | [
{
"position": "only",
"task_id": "kitchen10_close_top_drawer_put_black",
"instruction": "close the top drawer of the cabinet and put the black bowl on top of it",
"room": "kitchen",
"scene": "kitchen10",
"finish_s": 9.9
}
] | absent | {"present": ["butter", "chocolate pudding", "black bowl"], "decoy_pool": ["white mug", "plate", "wine bottle"]} |
easy_0036 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Putting the white mug on the left plate and the yellow and white mug on the right plate",
"B": "Putting the red mug on the left plate",
"C": "Picking up the ketchup and putting it in the tray",
"D": "Putting the red mug on the right plate"
} | D | Putting the red mug on the right plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Putting the white mug on the left plate and the yellow and white mug on the right plate
B. Putting the red mug on the left plate
C. Picking up the ketchup and putting it in the tray
D. Putting ... | videos/easy/living_room5_put_red_mug2.mp4 | 9.55 | [
{
"position": "only",
"task_id": "living_room5_put_red_mug2",
"instruction": "put the red mug on the right plate",
"room": "living room",
"scene": "living_room5",
"finish_s": 9.05
}
] | {"decoys": ["living5_two_mugs_two_plates", "living_room5_put_red_mug", "living_room3_pick_ketchup_put_tray"]} | |
easy_0037 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Turning on the stove and putting the frying pan on it",
"B": "Putting the frying pan on top of the cabinet",
"C": "Putting the frying pan on the cabinet shelf",
"D": "Putting the frying pan under the cabinet shelf"
} | B | Putting the frying pan on top of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Turning on the stove and putting the frying pan on it
B. Putting the frying pan on top of the cabinet
C. Putting the frying pan on the cabinet shelf
D. Putting the frying pan under the cabinet ... | videos/easy/kitchen9_put_frying_pan2.mp4 | 11.9 | [
{
"position": "only",
"task_id": "kitchen9_put_frying_pan2",
"instruction": "put the frying pan on top of the cabinet",
"room": "kitchen",
"scene": "kitchen9",
"finish_s": 11.4
}
] | {"decoys": ["kitchen9_put_frying_pan3", "kitchen9_turn_stove_put_frying", "kitchen9_put_frying_pan"]} | |
easy_0038 | easy | 1 | fixed | destination | goal_location | At the end of the video, where is the book? | {
"A": "In the left compartment of the caddy",
"B": "To the right of the caddy",
"C": "In the front compartment of the caddy",
"D": "In the right compartment of the caddy"
} | A | In the left compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the end of the video, where is the book?
A. In the left compartment of the caddy
B. To the right of the caddy
C. In the front compartment of the caddy
D. In the right compartment of the caddy
Answer with the letter of the correct option only. | videos/easy/study1_pick_book_place_left.mp4 | 7.95 | [
{
"position": "only",
"task_id": "study1_pick_book_place_left",
"instruction": "pick up the book and place it in the left compartment of the caddy",
"room": "study",
"scene": "study1",
"finish_s": 7.45
}
] | {"object": "book", "destination": "in the left compartment of the caddy", "decoys": ["to the right of the caddy", "in the right compartment of the caddy", "in the front compartment of the caddy"]} | |
easy_0039 | easy | 1 | fixed | presence | scene_contents | Which of these objects is NOT in the scene? | {
"A": "White mug",
"B": "Plate",
"C": "Yellow and white mug",
"D": "Chocolate pudding"
} | D | Chocolate pudding | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is NOT in the scene?
A. White mug
B. Plate
C. Yellow and white mug
D. Chocolate pudding
Answer with the letter of the correct option only. | videos/easy/living5_two_mugs_two_plates.mp4 | 14.3 | [
{
"position": "only",
"task_id": "living5_two_mugs_two_plates",
"instruction": "put the white mug on the left plate and put the yellow and white mug on the right plate",
"room": "living room",
"scene": "living_room5",
"finish_s": 13.8
}
] | absent | {"present": ["white mug", "yellow and white mug", "plate", "red mug"], "decoy_pool": ["chocolate pudding", "butter", "milk"]} |
easy_0040 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the right (from the camera's point of view)? | {
"A": "Alphabet soup",
"B": "Butter",
"C": "Tomato sauce",
"D": "Tray"
} | D | Tray | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the right (from the camera's point of view)?
A. Alphabet soup
B. Butter
C. Tomato sauce
D. Tray
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_alphabet_soup_put_tray.mp4 | 6.1 | [
{
"position": "only",
"task_id": "living_room3_pick_alphabet_soup_put_tray",
"instruction": "pick up the alphabet soup and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 5.6
}
] | rightmost | {"objects": [{"phrase": "alphabet soup", "px": 152.6, "world_x": -0.0755}, {"phrase": "tomato sauce", "px": 209.1, "world_x": -0.1131}, {"phrase": "butter", "px": 213.3, "world_x": 0.0747}, {"phrase": "tray", "px": 268.3, "world_x": 0.008}]} |
easy_0041 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Milk",
"B": "Ketchup",
"C": "Cream cheese box",
"D": "Tomato sauce"
} | D | Tomato sauce | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Milk
B. Ketchup
C. Cream cheese box
D. Tomato sauce
Answer with the letter of the correct option only. | videos/easy/living_room2_pick_tomato_sauce_put_basket.mp4 | 5.75 | [
{
"position": "only",
"task_id": "living_room2_pick_tomato_sauce_put_basket",
"instruction": "pick up the tomato sauce and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 5.25
}
] | {"object": "tomato sauce", "decoys": ["milk", "cream cheese box", "ketchup"], "n_decoys_present": 3} | |
easy_0042 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Picking up the alphabet soup and putting it in the tray",
"B": "Picking up the tomato sauce and putting it in the tray",
"C": "Picking up the cream cheese and putting it in the tray",
"D": "Picking up the ketchup and putting it in the tray"
} | B | Picking up the tomato sauce and putting it in the tray | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Picking up the alphabet soup and putting it in the tray
B. Picking up the tomato sauce and putting it in the tray
C. Picking up the cream cheese and putting it in the tray
D. Picking up the ket... | videos/easy/living_room3_pick_tomato_sauce_put_tray.mp4 | 6.95 | [
{
"position": "only",
"task_id": "living_room3_pick_tomato_sauce_put_tray",
"instruction": "pick up the tomato sauce and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 6.45
}
] | {"decoys": ["living_room3_pick_alphabet_soup_put_tray", "living_room3_pick_ketchup_put_tray", "living_room3_pick_cream_cheese_put_tray"]} | |
easy_0043 | easy | 1 | fixed | destination | goal_location | At the end of the video, where is the book? | {
"A": "To the right of the caddy",
"B": "In the front compartment of the caddy",
"C": "In the left compartment of the caddy",
"D": "In the right compartment of the caddy"
} | D | In the right compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the end of the video, where is the book?
A. To the right of the caddy
B. In the front compartment of the caddy
C. In the left compartment of the caddy
D. In the right compartment of the caddy
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_right.mp4 | 7.4 | [
{
"position": "only",
"task_id": "study3_pick_book_place_right",
"instruction": "pick up the book and place it in the right compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 6.9
}
] | {"object": "book", "destination": "in the right compartment of the caddy", "decoys": ["in the left compartment of the caddy", "in the front compartment of the caddy", "to the right of the caddy"]} | |
easy_0044 | easy | 1 | fixed | action | action_recognition | What is the robot doing in the video? | {
"A": "Putting the black bowl at the back on the plate",
"B": "Putting the black bowl in the middle on the plate",
"C": "Putting the black bowl at the front on the plate",
"D": "Opening the top drawer of the cabinet"
} | C | Putting the black bowl at the front on the plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What is the robot doing in the video?
A. Putting the black bowl at the back on the plate
B. Putting the black bowl in the middle on the plate
C. Putting the black bowl at the front on the plate
D. Opening the top drawer of the cabinet
Answer with the let... | videos/easy/kitchen2_put_black_bowl2.mp4 | 7.25 | [
{
"position": "only",
"task_id": "kitchen2_put_black_bowl2",
"instruction": "put the black bowl at the front on the plate",
"room": "kitchen",
"scene": "kitchen2",
"finish_s": 6.75
}
] | {"decoys": ["kitchen2_put_black_bowl3", "kitchen2_put_black_bowl", "kitchen2_open_top_drawer"]} | |
easy_0045 | easy | 1 | fixed | room | scene_recognition | Where is the robot working? | {
"A": "A study",
"B": "A bedroom",
"C": "A kitchen",
"D": "A living room"
} | C | A kitchen | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where is the robot working?
A. A study
B. A bedroom
C. A kitchen
D. A living room
Answer with the letter of the correct option only. | videos/easy/kitchen1_open_top_drawer.mp4 | 9.4 | [
{
"position": "only",
"task_id": "kitchen1_open_top_drawer",
"instruction": "open the top drawer of the cabinet",
"room": "kitchen",
"scene": "kitchen1",
"finish_s": 8.9
}
] | kitchen | {} |
easy_0046 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the right (from the camera's point of view)? | {
"A": "Basket",
"B": "Cream cheese box",
"C": "Alphabet soup",
"D": "Ketchup"
} | A | Basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the right (from the camera's point of view)?
A. Basket
B. Cream cheese box
C. Alphabet soup
D. Ketchup
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_ketchup_put_basket.mp4 | 9.2 | [
{
"position": "only",
"task_id": "living_room1_pick_ketchup_put_basket",
"instruction": "pick up the ketchup and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.7
}
] | rightmost | {"objects": [{"phrase": "ketchup", "px": 153.8, "world_x": -0.222}, {"phrase": "cream cheese box", "px": 214.2, "world_x": -0.1684}, {"phrase": "basket", "px": 269.6, "world_x": 0.006}, {"phrase": "alphabet soup", "px": 159.2, "world_x": 0.0454}]} |
easy_0047 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Putting the chocolate pudding to the right of the plate",
"B": "Putting the white mug on the plate",
"C": "Putting the red mug on the plate",
"D": "Putting the chocolate pudding to the left of the plate"
} | A | Putting the chocolate pudding to the right of the plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Putting the chocolate pudding to the right of the plate
B. Putting the white mug on the plate
C. Putting the red mug on the plate
D. Putting the chocolate pudding to the left of the plate
Answ... | videos/easy/living_room6_put_chocolate_pudding2.mp4 | 4.4 | [
{
"position": "only",
"task_id": "living_room6_put_chocolate_pudding2",
"instruction": "put the chocolate pudding to the right of the plate",
"room": "living room",
"scene": "living_room6",
"finish_s": 3.9
}
] | {"decoys": ["living_room6_put_red_mug", "living_room6_put_chocolate_pudding", "living_room6_put_white_mug"]} | |
easy_0048 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Black bowl",
"B": "Wine bottle",
"C": "Frying pan",
"D": "Ketchup"
} | A | Black bowl | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Black bowl
B. Wine bottle
C. Frying pan
D. Ketchup
Answer with the letter of the correct option only. | videos/easy/kitchen5_put_black_bowl2.mp4 | 7.1 | [
{
"position": "only",
"task_id": "kitchen5_put_black_bowl2",
"instruction": "put the black bowl on the plate",
"room": "kitchen",
"scene": "kitchen5",
"finish_s": 6.6
}
] | {"object": "black bowl", "decoys": ["ketchup", "wine bottle", "frying pan"], "n_decoys_present": 1} | |
easy_0049 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Yellow and white mug",
"B": "Book",
"C": "Red mug",
"D": "White mug"
} | B | Book | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Yellow and white mug
B. Book
C. Red mug
D. White mug
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_left.mp4 | 8.5 | [
{
"position": "only",
"task_id": "study3_pick_book_place_left",
"instruction": "pick up the book and place it in the left compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 8
}
] | {"object": "book", "decoys": ["red mug", "white mug", "yellow and white mug"], "n_decoys_present": 2} | |
easy_0050 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the left (from the camera's point of view)? | {
"A": "Alphabet soup",
"B": "Tomato sauce",
"C": "Basket",
"D": "Butter"
} | A | Alphabet soup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the left (from the camera's point of view)?
A. Alphabet soup
B. Tomato sauce
C. Basket
D. Butter
Answer with the letter of the correct option only. | videos/easy/living_room2_pick_milk_put_basket.mp4 | 5.75 | [
{
"position": "only",
"task_id": "living_room2_pick_milk_put_basket",
"instruction": "pick up the milk and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 5.25
}
] | leftmost | {"objects": [{"phrase": "butter", "px": 199.8, "world_x": 0.0253}, {"phrase": "alphabet soup", "px": 153.4, "world_x": -0.0838}, {"phrase": "tomato sauce", "px": 211.5, "world_x": -0.0935}, {"phrase": "basket", "px": 267.8, "world_x": 0.0002}]} |
easy_0051 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Putting the white mug on the plate",
"B": "Putting the chocolate pudding to the right of the plate",
"C": "Putting the chocolate pudding to the left of the plate",
"D": "Putting the red mug on the plate"
} | A | Putting the white mug on the plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Putting the white mug on the plate
B. Putting the chocolate pudding to the right of the plate
C. Putting the chocolate pudding to the left of the plate
D. Putting the red mug on the plate
Answer with the letter of t... | videos/easy/living_room6_put_white_mug.mp4 | 7.9 | [
{
"position": "only",
"task_id": "living_room6_put_white_mug",
"instruction": "put the white mug on the plate",
"room": "living room",
"scene": "living_room6",
"finish_s": 7.4
}
] | {"decoys": ["living_room6_put_chocolate_pudding2", "living_room6_put_red_mug", "living_room6_put_chocolate_pudding"]} | |
easy_0052 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "Black bowl",
"B": "Basket",
"C": "Cream cheese box",
"D": "Plate"
} | D | Plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. Black bowl
B. Basket
C. Cream cheese box
D. Plate
Answer with the letter of the correct option only. | videos/easy/living_room6_put_chocolate_pudding2.mp4 | 4.4 | [
{
"position": "only",
"task_id": "living_room6_put_chocolate_pudding2",
"instruction": "put the chocolate pudding to the right of the plate",
"room": "living room",
"scene": "living_room6",
"finish_s": 3.9
}
] | present | {"present": ["plate", "white mug", "chocolate pudding", "red mug"], "decoy_pool": ["basket", "cream cheese box", "black bowl"]} |
easy_0053 | easy | 1 | fixed | object | object_grounding | Which object does the robot pick up? | {
"A": "Book",
"B": "White mug",
"C": "Red mug",
"D": "Yellow and white mug"
} | D | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot pick up?
A. Book
B. White mug
C. Red mug
D. Yellow and white mug
Answer with the letter of the correct option only. | videos/easy/study1_pick_yellow_white_mug.mp4 | 7 | [
{
"position": "only",
"task_id": "study1_pick_yellow_white_mug",
"instruction": "pick up the yellow and white mug and place it to the right of the caddy",
"room": "study",
"scene": "study1",
"finish_s": 6.5
}
] | {"object": "yellow and white mug", "decoys": ["book", "red mug", "white mug"], "n_decoys_present": 1} | |
easy_0054 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "White mug",
"B": "Yellow and white mug",
"C": "Red mug",
"D": "Black bowl"
} | B | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. White mug
B. Yellow and white mug
C. Red mug
D. Black bowl
Answer with the letter of the correct option only. | videos/easy/study1_pick_book_place_left.mp4 | 7.95 | [
{
"position": "only",
"task_id": "study1_pick_book_place_left",
"instruction": "pick up the book and place it in the left compartment of the caddy",
"room": "study",
"scene": "study1",
"finish_s": 7.45
}
] | present | {"present": ["yellow and white mug", "book", "caddy"], "decoy_pool": ["white mug", "red mug", "black bowl"]} |
easy_0055 | easy | 1 | fixed | object | object_grounding | Which object does the robot pick up? | {
"A": "Alphabet soup",
"B": "Milk",
"C": "Butter",
"D": "Orange juice"
} | A | Alphabet soup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot pick up?
A. Alphabet soup
B. Milk
C. Butter
D. Orange juice
Answer with the letter of the correct option only. | videos/easy/living_room2_pick_alphabet_soup_put_basket.mp4 | 7.35 | [
{
"position": "only",
"task_id": "living_room2_pick_alphabet_soup_put_basket",
"instruction": "pick up the alphabet soup and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 6.85
}
] | {"object": "alphabet soup", "decoys": ["butter", "milk", "orange juice"], "n_decoys_present": 3} | |
easy_0056 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Butter",
"B": "Milk",
"C": "Orange juice",
"D": "Ketchup"
} | C | Orange juice | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Butter
B. Milk
C. Orange juice
D. Ketchup
Answer with the letter of the correct option only. | videos/easy/living_room2_pick_orange_juice_put_basket.mp4 | 7.95 | [
{
"position": "only",
"task_id": "living_room2_pick_orange_juice_put_basket",
"instruction": "pick up the orange juice and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 7.45
}
] | {"object": "orange juice", "decoys": ["butter", "ketchup", "milk"], "n_decoys_present": 3} | |
easy_0057 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Picking up the orange juice and putting it in the basket",
"B": "Picking up the milk and putting it in the basket",
"C": "Putting both the cream cheese box and the butter in the basket",
"D": "Picking up the alphabet soup and putting it in the basket"
} | D | Picking up the alphabet soup and putting it in the basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Picking up the orange juice and putting it in the basket
B. Picking up the milk and putting it in the basket
C. Putting both the cream cheese box and the butter in the basket
D. Picking up the alphabet soup and putti... | videos/easy/living_room2_pick_alphabet_soup_put_basket.mp4 | 7.35 | [
{
"position": "only",
"task_id": "living_room2_pick_alphabet_soup_put_basket",
"instruction": "pick up the alphabet soup and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 6.85
}
] | {"decoys": ["living_room2_pick_milk_put_basket", "living_room2_pick_orange_juice_put_basket", "living2_cheese_butter_basket"]} | |
easy_0058 | easy | 1 | fixed | destination | goal_location | At the end of the video, where is the book? | {
"A": "In the right compartment of the caddy",
"B": "In the back compartment of the caddy",
"C": "In the front compartment of the caddy",
"D": "In the left compartment of the caddy"
} | A | In the right compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the end of the video, where is the book?
A. In the right compartment of the caddy
B. In the back compartment of the caddy
C. In the front compartment of the caddy
D. In the left compartment of the caddy
Answer with the letter of the correct option onl... | videos/easy/study1_pick_book_place_right.mp4 | 8.35 | [
{
"position": "only",
"task_id": "study1_pick_book_place_right",
"instruction": "pick up the book and place it in the right compartment of the caddy",
"room": "study",
"scene": "study1",
"finish_s": 7.85
}
] | {"object": "book", "destination": "in the right compartment of the caddy", "decoys": ["in the left compartment of the caddy", "in the front compartment of the caddy", "in the back compartment of the caddy"]} | |
easy_0059 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Putting the white mug on the left plate",
"B": "Picking up the ketchup and putting it in the basket",
"C": "Putting both the alphabet soup and the cream cheese box in the basket",
"D": "Picking up the tomato sauce and putting it in the basket"
} | C | Putting both the alphabet soup and the cream cheese box in the basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Putting the white mug on the left plate
B. Picking up the ketchup and putting it in the basket
C. Putting both the alphabet soup and the cream cheese box in the basket
D. Picking up the tomato sauce and putting it in... | videos/easy/living1_soup_cheese_basket.mp4 | 15.05 | [
{
"position": "only",
"task_id": "living1_soup_cheese_basket",
"instruction": "put both the alphabet soup and the cream cheese box in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 14.55
}
] | {"decoys": ["living_room1_pick_tomato_sauce_put_basket", "living_room1_pick_ketchup_put_basket", "living_room5_put_white_mug"]} | |
easy_0060 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Putting the red mug on the right plate",
"B": "Putting the red mug on the left plate",
"C": "Putting the white mug on the left plate",
"D": "Putting the yellow and white mug on the right plate"
} | C | Putting the white mug on the left plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Putting the red mug on the right plate
B. Putting the red mug on the left plate
C. Putting the white mug on the left plate
D. Putting the yellow and white mug on the right plate
Answer with the letter of the correct... | videos/easy/living_room5_put_white_mug.mp4 | 4.95 | [
{
"position": "only",
"task_id": "living_room5_put_white_mug",
"instruction": "put the white mug on the left plate",
"room": "living room",
"scene": "living_room5",
"finish_s": 4.45
}
] | {"decoys": ["living_room5_put_yellow_white_mug", "living_room5_put_red_mug2", "living_room5_put_red_mug"]} | |
easy_0061 | easy | 1 | fixed | destination | goal_location | Where does the robot put the moka pot? | {
"A": "In the bottom drawer of the cabinet",
"B": "On the stove",
"C": "To the front of the white mug",
"D": "On the cabinet shelf"
} | B | On the stove | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot put the moka pot?
A. In the bottom drawer of the cabinet
B. On the stove
C. To the front of the white mug
D. On the cabinet shelf
Answer with the letter of the correct option only. | videos/easy/kitchen8_put_right_moka.mp4 | 10.15 | [
{
"position": "only",
"task_id": "kitchen8_put_right_moka",
"instruction": "put the right moka pot on the stove",
"room": "kitchen",
"scene": "kitchen8",
"finish_s": 9.65
}
] | {"object": "moka pot", "destination": "on the stove", "decoys": ["on the cabinet shelf", "to the front of the white mug", "in the bottom drawer of the cabinet"]} | |
easy_0062 | easy | 1 | fixed | presence | scene_contents | Which of these objects is NOT in the scene? | {
"A": "Book",
"B": "Red mug",
"C": "Caddy",
"D": "Yellow and white mug"
} | D | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is NOT in the scene?
A. Book
B. Red mug
C. Caddy
D. Yellow and white mug
Answer with the letter of the correct option only. | videos/easy/study2_pick_book_place_front.mp4 | 7.2 | [
{
"position": "only",
"task_id": "study2_pick_book_place_front",
"instruction": "pick up the book and place it in the front compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 6.7
}
] | absent | {"present": ["book", "caddy", "red mug"], "decoy_pool": ["yellow and white mug", "white mug", "tomato sauce"]} |
easy_0063 | easy | 1 | fixed | action | action_recognition | What is the robot doing in the video? | {
"A": "Putting the wine bottle in the bottom drawer of the cabinet",
"B": "Closing the bottom drawer of the cabinet and opening the top drawer",
"C": "Putting the wine bottle on the wine rack",
"D": "Putting the black bowl in the bottom drawer of the cabinet and closing it"
} | D | Putting the black bowl in the bottom drawer of the cabinet and closing it | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What is the robot doing in the video?
A. Putting the wine bottle in the bottom drawer of the cabinet
B. Closing the bottom drawer of the cabinet and opening the top drawer
C. Putting the wine bottle on the wine rack
D. Putting the black bowl in the bottom... | videos/easy/kitchen4_bowl_drawer.mp4 | 11.95 | [
{
"position": "only",
"task_id": "kitchen4_bowl_drawer",
"instruction": "put the black bowl in the bottom drawer of the cabinet and close it",
"room": "kitchen",
"scene": "kitchen4",
"finish_s": 11.45
}
] | {"decoys": ["kitchen4_put_wine_bottle2", "kitchen4_put_wine_bottle", "kitchen4_close_bottom_drawer_open_top"]} | |
easy_0064 | easy | 1 | fixed | object | object_grounding | What does the robot pick up and move? | {
"A": "Yellow and white mug",
"B": "Red mug",
"C": "Black bowl",
"D": "White mug"
} | A | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What does the robot pick up and move?
A. Yellow and white mug
B. Red mug
C. Black bowl
D. White mug
Answer with the letter of the correct option only. | videos/easy/living_room5_put_yellow_white_mug.mp4 | 6.6 | [
{
"position": "only",
"task_id": "living_room5_put_yellow_white_mug",
"instruction": "put the yellow and white mug on the right plate",
"room": "living room",
"scene": "living_room5",
"finish_s": 6.1
}
] | {"object": "yellow and white mug", "decoys": ["white mug", "red mug", "black bowl"], "n_decoys_present": 2} | |
easy_0065 | easy | 1 | fixed | room | scene_recognition | Where is the robot working? | {
"A": "A bedroom",
"B": "A kitchen",
"C": "A living room",
"D": "A study"
} | C | A living room | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where is the robot working?
A. A bedroom
B. A kitchen
C. A living room
D. A study
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_ketchup_put_tray.mp4 | 7.7 | [
{
"position": "only",
"task_id": "living_room3_pick_ketchup_put_tray",
"instruction": "pick up the ketchup and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 7.2
}
] | living_room | {} |
easy_0066 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "Yellow and white mug",
"B": "Caddy",
"C": "Basket",
"D": "White mug"
} | B | Caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. Yellow and white mug
B. Caddy
C. Basket
D. White mug
Answer with the letter of the correct option only. | videos/easy/study2_pick_book_place_compartment.mp4 | 10.4 | [
{
"position": "only",
"task_id": "study2_pick_book_place_compartment",
"instruction": "pick up the book and place it in the back compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 9.9
}
] | present | {"present": ["caddy", "book", "red mug"], "decoy_pool": ["yellow and white mug", "white mug", "basket"]} |
easy_0067 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Butter",
"B": "Tomato sauce",
"C": "Ketchup",
"D": "Cream cheese box"
} | C | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Butter
B. Tomato sauce
C. Ketchup
D. Cream cheese box
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_ketchup_put_tray.mp4 | 7.7 | [
{
"position": "only",
"task_id": "living_room3_pick_ketchup_put_tray",
"instruction": "pick up the ketchup and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 7.2
}
] | {"object": "ketchup", "decoys": ["tomato sauce", "cream cheese box", "butter"], "n_decoys_present": 3} | |
easy_0068 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest from the camera? | {
"A": "Basket",
"B": "Ketchup",
"C": "Tomato sauce",
"D": "Alphabet soup"
} | B | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest from the camera?
A. Basket
B. Ketchup
C. Tomato sauce
D. Alphabet soup
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_alphabet_soup_put_basket.mp4 | 8.25 | [
{
"position": "only",
"task_id": "living_room1_pick_alphabet_soup_put_basket",
"instruction": "pick up the alphabet soup and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 7.75
}
] | farthest | {"objects": [{"phrase": "tomato sauce", "px": 121.1, "world_x": 0.1096}, {"phrase": "basket", "px": 266.1, "world_x": 0.0001}, {"phrase": "alphabet soup", "px": 161.3, "world_x": 0.066}, {"phrase": "ketchup", "px": 146.7, "world_x": -0.2187}]} |
easy_0069 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "Butter",
"B": "Wine rack",
"C": "White bowl",
"D": "Moka pot"
} | A | Butter | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. Butter
B. Wine rack
C. White bowl
D. Moka pot
Answer with the letter of the correct option only. | videos/easy/kitchen10_put_butter_front_close.mp4 | 9.2 | [
{
"position": "only",
"task_id": "kitchen10_put_butter_front_close",
"instruction": "put the butter at the front in the top drawer of the cabinet and close it",
"room": "kitchen",
"scene": "kitchen10",
"finish_s": 8.7
}
] | present | {"present": ["butter", "chocolate pudding", "black bowl"], "decoy_pool": ["white bowl", "moka pot", "wine rack"]} |
easy_0070 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is closest to the camera? | {
"A": "Cream cheese box",
"B": "Ketchup",
"C": "Alphabet soup",
"D": "Tomato sauce"
} | A | Cream cheese box | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is closest to the camera?
A. Cream cheese box
B. Ketchup
C. Alphabet soup
D. Tomato sauce
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_butter_put_tray.mp4 | 5.7 | [
{
"position": "only",
"task_id": "living_room3_pick_butter_put_tray",
"instruction": "pick up the butter and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 5.2
}
] | closest | {"objects": [{"phrase": "tomato sauce", "px": 206.4, "world_x": -0.0874}, {"phrase": "ketchup", "px": 156.4, "world_x": -0.2339}, {"phrase": "cream cheese box", "px": 125.4, "world_x": 0.0899}, {"phrase": "alphabet soup", "px": 151.8, "world_x": -0.0889}]} |
easy_0071 | easy | 1 | fixed | action | action_recognition | What is the robot doing in the video? | {
"A": "Picking up the cream cheese box and putting it in the basket",
"B": "Picking up the alphabet soup and putting it in the basket",
"C": "Picking up the ketchup and putting it in the basket",
"D": "Picking up the tomato sauce and putting it in the basket"
} | D | Picking up the tomato sauce and putting it in the basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What is the robot doing in the video?
A. Picking up the cream cheese box and putting it in the basket
B. Picking up the alphabet soup and putting it in the basket
C. Picking up the ketchup and putting it in the basket
D. Picking up the tomato sauce and pu... | videos/easy/living_room1_pick_tomato_sauce_put_basket.mp4 | 8.65 | [
{
"position": "only",
"task_id": "living_room1_pick_tomato_sauce_put_basket",
"instruction": "pick up the tomato sauce and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.15
}
] | {"decoys": ["living_room1_pick_alphabet_soup_put_basket", "living_room1_pick_cream_cheese_put_basket", "living_room1_pick_ketchup_put_basket"]} | |
easy_0072 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest from the camera? | {
"A": "Basket",
"B": "Alphabet soup",
"C": "Ketchup",
"D": "Tomato sauce"
} | C | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest from the camera?
A. Basket
B. Alphabet soup
C. Ketchup
D. Tomato sauce
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_cream_cheese_put_basket.mp4 | 8.6 | [
{
"position": "only",
"task_id": "living_room1_pick_cream_cheese_put_basket",
"instruction": "pick up the cream cheese box and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.1
}
] | farthest | {"objects": [{"phrase": "basket", "px": 267.7, "world_x": -0.0095}, {"phrase": "alphabet soup", "px": 165.1, "world_x": 0.0544}, {"phrase": "ketchup", "px": 151.4, "world_x": -0.2101}, {"phrase": "tomato sauce", "px": 131.8, "world_x": 0.0876}]} |
easy_0073 | easy | 1 | fixed | destination | goal_location | Where does the robot put the book? | {
"A": "In the left compartment of the caddy",
"B": "In the front compartment of the caddy",
"C": "In the back compartment of the caddy",
"D": "In the right compartment of the caddy"
} | C | In the back compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot put the book?
A. In the left compartment of the caddy
B. In the front compartment of the caddy
C. In the back compartment of the caddy
D. In the right compartment of the caddy
Answer with the letter of the correct option only. | videos/easy/study2_pick_book_place_compartment.mp4 | 10.4 | [
{
"position": "only",
"task_id": "study2_pick_book_place_compartment",
"instruction": "pick up the book and place it in the back compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 9.9
}
] | {"object": "book", "destination": "in the back compartment of the caddy", "decoys": ["in the front compartment of the caddy", "in the right compartment of the caddy", "in the left compartment of the caddy"]} | |
easy_0074 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A living room",
"B": "A bedroom",
"C": "A study",
"D": "A kitchen"
} | A | A living room | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A living room
B. A bedroom
C. A study
D. A kitchen
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_tomato_sauce_put_basket.mp4 | 8.65 | [
{
"position": "only",
"task_id": "living_room1_pick_tomato_sauce_put_basket",
"instruction": "pick up the tomato sauce and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.15
}
] | living_room | {} |
easy_0075 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest from the camera? | {
"A": "Ketchup",
"B": "Cream cheese box",
"C": "Orange juice",
"D": "Basket"
} | A | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest from the camera?
A. Ketchup
B. Cream cheese box
C. Orange juice
D. Basket
Answer with the letter of the correct option only. | videos/easy/living2_cheese_butter_basket.mp4 | 13.45 | [
{
"position": "only",
"task_id": "living2_cheese_butter_basket",
"instruction": "put both the cream cheese box and the butter in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 12.95
}
] | farthest | {"objects": [{"phrase": "cream cheese box", "px": 127.6, "world_x": 0.0961}, {"phrase": "basket", "px": 269.1, "world_x": -0.0052}, {"phrase": "ketchup", "px": 149.0, "world_x": -0.2471}, {"phrase": "orange juice", "px": 118.5, "world_x": 0.0236}]} |
easy_0076 | easy | 1 | fixed | destination | goal_location | Where does the robot put the cream cheese box? | {
"A": "In the basket",
"B": "On the plate",
"C": "In the tray",
"D": "On the right plate"
} | A | In the basket | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot put the cream cheese box?
A. In the basket
B. On the plate
C. In the tray
D. On the right plate
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_cream_cheese_put_basket.mp4 | 8.6 | [
{
"position": "only",
"task_id": "living_room1_pick_cream_cheese_put_basket",
"instruction": "pick up the cream cheese box and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.1
}
] | {"object": "cream cheese box", "destination": "in the basket", "decoys": ["on the right plate", "in the tray", "on the plate"]} | |
easy_0077 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Chocolate pudding",
"B": "Butter",
"C": "Moka pot",
"D": "Black bowl"
} | B | Butter | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Chocolate pudding
B. Butter
C. Moka pot
D. Black bowl
Answer with the letter of the correct option only. | videos/easy/kitchen10_put_butter_front_close.mp4 | 9.2 | [
{
"position": "only",
"task_id": "kitchen10_put_butter_front_close",
"instruction": "put the butter at the front in the top drawer of the cabinet and close it",
"room": "kitchen",
"scene": "kitchen10",
"finish_s": 8.7
}
] | {"object": "butter", "decoys": ["black bowl", "chocolate pudding", "moka pot"], "n_decoys_present": 2} | |
easy_0078 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Cream cheese box",
"B": "Alphabet soup",
"C": "Ketchup",
"D": "Tomato sauce"
} | C | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Cream cheese box
B. Alphabet soup
C. Ketchup
D. Tomato sauce
Answer with the letter of the correct option only. | videos/easy/living_room1_pick_ketchup_put_basket.mp4 | 9.2 | [
{
"position": "only",
"task_id": "living_room1_pick_ketchup_put_basket",
"instruction": "pick up the ketchup and put it in the basket",
"room": "living room",
"scene": "living_room1",
"finish_s": 8.7
}
] | {"object": "ketchup", "decoys": ["tomato sauce", "cream cheese box", "alphabet soup"], "n_decoys_present": 3} | |
easy_0079 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Putting the red mug on the left plate",
"B": "Putting the yellow and white mug on the right plate",
"C": "Putting the red mug on the right plate",
"D": "Putting the white mug on the left plate"
} | A | Putting the red mug on the left plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Putting the red mug on the left plate
B. Putting the yellow and white mug on the right plate
C. Putting the red mug on the right plate
D. Putting the white mug on the left plate
Answer with th... | videos/easy/living_room5_put_red_mug.mp4 | 7.7 | [
{
"position": "only",
"task_id": "living_room5_put_red_mug",
"instruction": "put the red mug on the left plate",
"room": "living room",
"scene": "living_room5",
"finish_s": 7.2
}
] | {"decoys": ["living_room5_put_yellow_white_mug", "living_room5_put_red_mug2", "living_room5_put_white_mug"]} | |
easy_0080 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Picking up the book and placing it in the front compartment of the caddy",
"B": "Picking up the book and placing it in the left compartment of the caddy",
"C": "Picking up the red mug and placing it to the right compartment of the caddy",
"D": "Picking up the white mug and placing it to the right compar... | D | Picking up the white mug and placing it to the right compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Picking up the book and placing it in the front compartment of the caddy
B. Picking up the book and placing it in the left compartment of the caddy
C. Picking up the red mug and placing it to t... | videos/easy/study3_pick_white_mug_place_right.mp4 | 6.15 | [
{
"position": "only",
"task_id": "study3_pick_white_mug_place_right",
"instruction": "pick up the white mug and place it to the right compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 5.65
}
] | {"decoys": ["study3_pick_book_place_front", "study3_pick_book_place_left", "study3_pick_red_mug_place_right"]} | |
easy_0081 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest from the camera? | {
"A": "Book",
"B": "Caddy",
"C": "White mug",
"D": "Red mug"
} | B | Caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest from the camera?
A. Book
B. Caddy
C. White mug
D. Red mug
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_front.mp4 | 8.55 | [
{
"position": "only",
"task_id": "study3_pick_book_place_front",
"instruction": "pick up the book and place it in the front compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 8.05
}
] | farthest | {"objects": [{"phrase": "caddy", "px": 147.1, "world_x": -0.3964}, {"phrase": "red mug", "px": 243.9, "world_x": -0.0076}, {"phrase": "white mug", "px": 185.5, "world_x": -0.2001}, {"phrase": "book", "px": 135.6, "world_x": -0.2218}]} |
easy_0082 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Putting the wine bottle on the wine rack",
"B": "Putting the black bowl in the bottom drawer of the cabinet and closing it",
"C": "Putting the black bowl on top of the cabinet",
"D": "Closing the bottom drawer of the cabinet and opening the top drawer"
} | A | Putting the wine bottle on the wine rack | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Putting the wine bottle on the wine rack
B. Putting the black bowl in the bottom drawer of the cabinet and closing it
C. Putting the black bowl on top of the cabinet
D. Closing the bottom drawer of the cabinet and op... | videos/easy/kitchen4_put_wine_bottle2.mp4 | 16 | [
{
"position": "only",
"task_id": "kitchen4_put_wine_bottle2",
"instruction": "put the wine bottle on the wine rack",
"room": "kitchen",
"scene": "kitchen4",
"finish_s": 15.5
}
] | {"decoys": ["kitchen4_close_bottom_drawer_open_top", "kitchen4_bowl_drawer", "kitchen4_put_black_bowl2"]} | |
easy_0083 | easy | 1 | fixed | operation | state_change | Which action does the robot perform? | {
"A": "Closes the bottom drawer of the cabinet",
"B": "Opens the bottom drawer of the cabinet",
"C": "Closes the top drawer of the cabinet",
"D": "Opens the top drawer of the cabinet"
} | A | Closes the bottom drawer of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which action does the robot perform?
A. Closes the bottom drawer of the cabinet
B. Opens the bottom drawer of the cabinet
C. Closes the top drawer of the cabinet
D. Opens the top drawer of the cabinet
Answer with the letter of the correct option only. | videos/easy/kitchen4_close_bottom_drawer.mp4 | 7.4 | [
{
"position": "only",
"task_id": "kitchen4_close_bottom_drawer",
"instruction": "close the bottom drawer of the cabinet",
"room": "kitchen",
"scene": "kitchen4",
"finish_s": 6.9
}
] | {"operation": ["close", "bottom drawer of the cabinet"], "decoys": [["open", "bottom drawer of the cabinet"], ["close", "top drawer of the cabinet"], ["open", "top drawer of the cabinet"]]} | |
easy_0084 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A living room",
"B": "A kitchen",
"C": "A study",
"D": "A bedroom"
} | B | A kitchen | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A living room
B. A kitchen
C. A study
D. A bedroom
Answer with the letter of the correct option only. | videos/easy/kitchen2_put_black_bowl.mp4 | 5.95 | [
{
"position": "only",
"task_id": "kitchen2_put_black_bowl",
"instruction": "put the black bowl at the back on the plate",
"room": "kitchen",
"scene": "kitchen2",
"finish_s": 5.45
}
] | kitchen | {} |
easy_0085 | easy | 1 | fixed | room | scene_recognition | What type of room is the robot in? | {
"A": "A living room",
"B": "A bedroom",
"C": "A study",
"D": "A kitchen"
} | C | A study | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What type of room is the robot in?
A. A living room
B. A bedroom
C. A study
D. A kitchen
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_left.mp4 | 8.5 | [
{
"position": "only",
"task_id": "study3_pick_book_place_left",
"instruction": "pick up the book and place it in the left compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 8
}
] | study | {} |
easy_0086 | easy | 1 | fixed | presence | scene_contents | Which of these objects is NOT in the scene? | {
"A": "Red mug",
"B": "Book",
"C": "Yellow and white mug",
"D": "Caddy"
} | C | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is NOT in the scene?
A. Red mug
B. Book
C. Yellow and white mug
D. Caddy
Answer with the letter of the correct option only. | videos/easy/study3_pick_white_mug_place_right.mp4 | 6.15 | [
{
"position": "only",
"task_id": "study3_pick_white_mug_place_right",
"instruction": "pick up the white mug and place it to the right compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 5.65
}
] | absent | {"present": ["book", "red mug", "caddy", "white mug"], "decoy_pool": ["yellow and white mug", "chocolate pudding", "alphabet soup"]} |
easy_0087 | easy | 1 | fixed | room | scene_recognition | Which kind of room does the video take place in? | {
"A": "A study",
"B": "A kitchen",
"C": "A living room",
"D": "A bedroom"
} | A | A study | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which kind of room does the video take place in?
A. A study
B. A kitchen
C. A living room
D. A bedroom
Answer with the letter of the correct option only. | videos/easy/study2_pick_book_place_front.mp4 | 7.2 | [
{
"position": "only",
"task_id": "study2_pick_book_place_front",
"instruction": "pick up the book and place it in the front compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 6.7
}
] | study | {} |
easy_0088 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Opening the top drawer of the cabinet",
"B": "Stacking the black bowl in the middle on the black bowl at the front",
"C": "Putting the black bowl at the back on the plate",
"D": "Putting the middle black bowl on top of the cabinet"
} | D | Putting the middle black bowl on top of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Opening the top drawer of the cabinet
B. Stacking the black bowl in the middle on the black bowl at the front
C. Putting the black bowl at the back on the plate
D. Putting the middle black bowl... | videos/easy/kitchen2_put_middle_black.mp4 | 7.4 | [
{
"position": "only",
"task_id": "kitchen2_put_middle_black",
"instruction": "put the middle black bowl on top of the cabinet",
"room": "kitchen",
"scene": "kitchen2",
"finish_s": 6.9
}
] | {"decoys": ["kitchen2_stack_black_bowl2", "kitchen2_open_top_drawer", "kitchen2_put_black_bowl"]} | |
easy_0089 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the left (from the camera's point of view)? | {
"A": "Basket",
"B": "Tomato sauce",
"C": "Cream cheese box",
"D": "Butter"
} | C | Cream cheese box | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the left (from the camera's point of view)?
A. Basket
B. Tomato sauce
C. Cream cheese box
D. Butter
Answer with the letter of the correct option only. | videos/easy/living_room2_pick_orange_juice_put_basket.mp4 | 7.95 | [
{
"position": "only",
"task_id": "living_room2_pick_orange_juice_put_basket",
"instruction": "pick up the orange juice and put it in the basket",
"room": "living room",
"scene": "living_room2",
"finish_s": 7.45
}
] | leftmost | {"objects": [{"phrase": "basket", "px": 270.1, "world_x": 0.0041}, {"phrase": "butter", "px": 204.0, "world_x": 0.0605}, {"phrase": "tomato sauce", "px": 205.8, "world_x": -0.1127}, {"phrase": "cream cheese box", "px": 131.6, "world_x": 0.1041}]} |
easy_0090 | easy | 1 | fixed | action | action_recognition | What task does the robot carry out? | {
"A": "Putting the moka pot on the stove",
"B": "Putting the frying pan on the cabinet shelf",
"C": "Putting the black bowl at the back on the plate",
"D": "Turning on the stove and putting the frying pan on it"
} | D | Turning on the stove and putting the frying pan on it | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: What task does the robot carry out?
A. Putting the moka pot on the stove
B. Putting the frying pan on the cabinet shelf
C. Putting the black bowl at the back on the plate
D. Turning on the stove and putting the frying pan on it
Answer with the letter of ... | videos/easy/kitchen3_turn_stove_put_frying.mp4 | 14.9 | [
{
"position": "only",
"task_id": "kitchen3_turn_stove_put_frying",
"instruction": "turn on the stove and put the frying pan on it",
"room": "kitchen",
"scene": "kitchen3",
"finish_s": 14.4
}
] | {"decoys": ["kitchen3_put_moka_pot", "kitchen2_put_black_bowl", "kitchen9_put_frying_pan"]} | |
easy_0091 | easy | 1 | fixed | operation | state_change | Which of the following does the robot do? | {
"A": "Opens the bottom drawer of the cabinet",
"B": "Closes the top drawer of the cabinet",
"C": "Opens the top drawer of the cabinet",
"D": "Closes the bottom drawer of the cabinet"
} | B | Closes the top drawer of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following does the robot do?
A. Opens the bottom drawer of the cabinet
B. Closes the top drawer of the cabinet
C. Opens the top drawer of the cabinet
D. Closes the bottom drawer of the cabinet
Answer with the letter of the correct option onl... | videos/easy/kitchen10_put_butter_top_close.mp4 | 9.7 | [
{
"position": "only",
"task_id": "kitchen10_put_butter_top_close",
"instruction": "put the butter at the back in the top drawer of the cabinet and close it",
"room": "kitchen",
"scene": "kitchen10",
"finish_s": 9.2
}
] | {"operation": ["close", "top drawer of the cabinet"], "decoys": [["open", "top drawer of the cabinet"], ["close", "bottom drawer of the cabinet"], ["open", "bottom drawer of the cabinet"]]} | |
easy_0092 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Butter",
"B": "White bowl",
"C": "Black bowl",
"D": "Ketchup"
} | D | Ketchup | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Butter
B. White bowl
C. Black bowl
D. Ketchup
Answer with the letter of the correct option only. | videos/easy/kitchen5_put_ketchup_top.mp4 | 10.55 | [
{
"position": "only",
"task_id": "kitchen5_put_ketchup_top",
"instruction": "put the ketchup in the top drawer of the cabinet",
"room": "kitchen",
"scene": "kitchen5",
"finish_s": 10.05
}
] | {"object": "ketchup", "decoys": ["black bowl", "butter", "white bowl"], "n_decoys_present": 1} | |
easy_0093 | easy | 1 | fixed | operation | state_change | Which action does the robot perform? | {
"A": "Closes the bottom drawer of the cabinet",
"B": "Closes the top drawer of the cabinet",
"C": "Opens the bottom drawer of the cabinet",
"D": "Opens the top drawer of the cabinet"
} | A | Closes the bottom drawer of the cabinet | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which action does the robot perform?
A. Closes the bottom drawer of the cabinet
B. Closes the top drawer of the cabinet
C. Opens the bottom drawer of the cabinet
D. Opens the top drawer of the cabinet
Answer with the letter of the correct option only. | videos/easy/kitchen4_bowl_drawer.mp4 | 11.95 | [
{
"position": "only",
"task_id": "kitchen4_bowl_drawer",
"instruction": "put the black bowl in the bottom drawer of the cabinet and close it",
"room": "kitchen",
"scene": "kitchen4",
"finish_s": 11.45
}
] | {"operation": ["close", "bottom drawer of the cabinet"], "decoys": [["open", "bottom drawer of the cabinet"], ["open", "top drawer of the cabinet"], ["close", "top drawer of the cabinet"]]} | |
easy_0094 | easy | 1 | fixed | spatial | spatial_layout | At the start of the video, which object is furthest to the left (from the camera's point of view)? | {
"A": "Tray",
"B": "Butter",
"C": "Tomato sauce",
"D": "Cream cheese box"
} | D | Cream cheese box | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: At the start of the video, which object is furthest to the left (from the camera's point of view)?
A. Tray
B. Butter
C. Tomato sauce
D. Cream cheese box
Answer with the letter of the correct option only. | videos/easy/living_room3_pick_butter_put_tray.mp4 | 5.7 | [
{
"position": "only",
"task_id": "living_room3_pick_butter_put_tray",
"instruction": "pick up the butter and put it in the tray",
"room": "living room",
"scene": "living_room3",
"finish_s": 5.2
}
] | leftmost | {"objects": [{"phrase": "tomato sauce", "px": 206.4, "world_x": -0.0874}, {"phrase": "cream cheese box", "px": 125.4, "world_x": 0.0899}, {"phrase": "butter", "px": 199.9, "world_x": 0.0442}, {"phrase": "tray", "px": 266.6, "world_x": 0.0022}]} |
easy_0095 | easy | 1 | fixed | action | action_recognition | Which of the following best describes what the robot does? | {
"A": "Putting the black bowl in the top drawer of the cabinet",
"B": "Closing the top drawer of the cabinet",
"C": "Putting the black bowl on the plate",
"D": "Putting the black bowl on top of the cabinet"
} | C | Putting the black bowl on the plate | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of the following best describes what the robot does?
A. Putting the black bowl in the top drawer of the cabinet
B. Closing the top drawer of the cabinet
C. Putting the black bowl on the plate
D. Putting the black bowl on top of the cabinet
Answer w... | videos/easy/kitchen5_put_black_bowl2.mp4 | 7.1 | [
{
"position": "only",
"task_id": "kitchen5_put_black_bowl2",
"instruction": "put the black bowl on the plate",
"room": "kitchen",
"scene": "kitchen5",
"finish_s": 6.6
}
] | {"decoys": ["kitchen5_put_black_bowl", "kitchen5_close_top_drawer", "kitchen5_put_black_bowl3"]} | |
easy_0096 | easy | 1 | fixed | destination | goal_location | Where does the robot put the book? | {
"A": "On the cabinet shelf",
"B": "In the right compartment of the caddy",
"C": "In the left compartment of the caddy",
"D": "In the front compartment of the caddy"
} | C | In the left compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot put the book?
A. On the cabinet shelf
B. In the right compartment of the caddy
C. In the left compartment of the caddy
D. In the front compartment of the caddy
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_left.mp4 | 8.5 | [
{
"position": "only",
"task_id": "study3_pick_book_place_left",
"instruction": "pick up the book and place it in the left compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 8
}
] | {"object": "book", "destination": "in the left compartment of the caddy", "decoys": ["in the right compartment of the caddy", "in the front compartment of the caddy", "on the cabinet shelf"]} | |
easy_0097 | easy | 1 | fixed | presence | scene_contents | Which of these objects is NOT in the scene? | {
"A": "Yellow and white mug",
"B": "Caddy",
"C": "Red mug",
"D": "Book"
} | A | Yellow and white mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is NOT in the scene?
A. Yellow and white mug
B. Caddy
C. Red mug
D. Book
Answer with the letter of the correct option only. | videos/easy/study3_pick_book_place_front.mp4 | 8.55 | [
{
"position": "only",
"task_id": "study3_pick_book_place_front",
"instruction": "pick up the book and place it in the front compartment of the caddy",
"room": "study",
"scene": "study3",
"finish_s": 8.05
}
] | absent | {"present": ["book", "caddy", "red mug", "white mug"], "decoy_pool": ["yellow and white mug", "plate", "moka pot"]} |
easy_0098 | easy | 1 | fixed | object | object_grounding | Which object does the robot carry to its destination? | {
"A": "Butter",
"B": "Red mug",
"C": "White mug",
"D": "Chocolate pudding"
} | D | Chocolate pudding | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which object does the robot carry to its destination?
A. Butter
B. Red mug
C. White mug
D. Chocolate pudding
Answer with the letter of the correct option only. | videos/easy/living_room6_put_chocolate_pudding2.mp4 | 4.4 | [
{
"position": "only",
"task_id": "living_room6_put_chocolate_pudding2",
"instruction": "put the chocolate pudding to the right of the plate",
"room": "living room",
"scene": "living_room6",
"finish_s": 3.9
}
] | {"object": "chocolate pudding", "decoys": ["white mug", "red mug", "butter"], "n_decoys_present": 2} | |
easy_0099 | easy | 1 | fixed | destination | goal_location | Where does the robot place the book? | {
"A": "In the left compartment of the caddy",
"B": "In the right compartment of the caddy",
"C": "In the back compartment of the caddy",
"D": "In the front compartment of the caddy"
} | D | In the front compartment of the caddy | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Where does the robot place the book?
A. In the left compartment of the caddy
B. In the right compartment of the caddy
C. In the back compartment of the caddy
D. In the front compartment of the caddy
Answer with the letter of the correct option only. | videos/easy/study2_pick_book_place_front.mp4 | 7.2 | [
{
"position": "only",
"task_id": "study2_pick_book_place_front",
"instruction": "pick up the book and place it in the front compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 6.7
}
] | {"object": "book", "destination": "in the front compartment of the caddy", "decoys": ["in the back compartment of the caddy", "in the right compartment of the caddy", "in the left compartment of the caddy"]} | |
easy_0100 | easy | 1 | fixed | presence | scene_contents | Which of these objects is in the scene? | {
"A": "Red mug",
"B": "White mug",
"C": "Milk",
"D": "Yellow and white mug"
} | A | Red mug | 4 | 0.25 | The video shows a single robot arm performing a task.
Question: Which of these objects is in the scene?
A. Red mug
B. White mug
C. Milk
D. Yellow and white mug
Answer with the letter of the correct option only. | videos/easy/study2_pick_book_place_right.mp4 | 8.6 | [
{
"position": "only",
"task_id": "study2_pick_book_place_right",
"instruction": "pick up the book and place it in the right compartment of the caddy",
"room": "study",
"scene": "study2",
"finish_s": 8.1
}
] | present | {"present": ["red mug", "book", "caddy"], "decoy_pool": ["white mug", "yellow and white mug", "milk"]} |
End of preview. Expand in Data Studio
Crosswire: Which Robot Did What?
Crosswire is a video question-answering benchmark that tests whether multimodal models can tell which robot did what when several robots share a frame. It contains 650 multiple-choice questions over 497 videos of Franka robot arms performing LIBERO manipulation tasks, in three difficulty tiers:
| Tier | Robots | Camera | Questions | Videos | Mean chance |
|---|---|---|---|---|---|
| Easy | 1 | fixed | 250 | 97 | 0.250 |
| Medium | 2, side by side | fixed and rotating | 200 | 200 | 0.325 |
| Hard | 3, side by side | fixed and rotating | 200 | 200 | 0.258 |
Medium and hard are split evenly between a fixed camera and a camera that orbits the scene (36 to 52 degrees over the clip). The fixed and rotating versions of a clip are rendered from the same physics rollout, so the robots' motion is identical and only the viewpoint differs.
How the data was made
- Real demonstrations, replayed in physics. Every clip is a replay of a human teleoperation demonstration from LIBERO-10 or LIBERO-90, run in MuJoCo through robosuite and kept only if the replay satisfies the task's own success predicate. 99 of the 100 LIBERO tasks are used.
- No human annotation. Answers are derived from task labels that are parsed from each task's instruction and checked against the simulator's goal predicates, from clip timings, and from object positions in the first frame. At the end of every replay the drawer, microwave and stove states are checked against the labels.
- Balanced by construction. Each question type has a fixed quota for every answer class (left, right, both, neither; 0 to 3; yes or no). Wrong options are drawn at random from the same scene rather than chosen as the most similar tasks, so no option can be singled out without watching the video.
- Audited. All 650 answers were re-derived independently from the labels, every video panel was matched to its source clip, and simple strategies that ignore the video (always A, longest option, most typical option, and others) stay at chance.
Question types
| Tier | Types (number of questions) |
|---|---|
| Easy | action (55), spatial layout (44), object (40), destination (40), scene contents (36), room (20), operation (15) |
| Medium | who does what (40), yes/no claim (30), which robot (30), finishes first (30), object of robot (30), which room (25), destination of robot (15) |
| Hard | who does what (35), which robot (35), neighbour's action (35), count (30), odd room out (25), finishes last (20), finish order (20) |
Most questions have four options. The 60 medium questions of type yes/no claim and finishes first have two, and the 20 hard questions of type finishes last have three. Every record stores its own chance level.
Files
test.jsonl 650 questions, one per line (the default split, shown in the viewer)
questions.jsonl the same 650 questions with the full construction metadata
videos/easy/*.mp4 97 single-robot videos (shared by the easy questions)
videos/medium/*.mp4 200 two-robot videos, one per question
videos/hard/*.mp4 200 three-robot videos, one per question
benchmark_info.json counts and balance statistics
preview.md two worked examples per question type
Videos are 384 pixels high, 20 fps, H.264. Multi-robot videos place one 384-pixel panel per robot, separated by a 4-pixel divider. A robot that finishes early holds its last frame until the video ends.
Fields in test.jsonl
| Field | Description |
|---|---|
id |
question id, for example hard_0025 |
tier, n_robots, camera |
difficulty tier, number of robots, fixed or rotating |
question_type, family |
one of the 21 question types, and its skill family |
question, options, answer, answer_text |
the question, the lettered options, the correct letter and its text |
n_options, chance |
number of options and chance accuracy for this item |
prompt |
the full text prompt given to a model, including the layout preamble |
video, video_duration_s |
path of the video relative to the repository root, and its length |
robots |
for each panel: position, LIBERO task id, instruction, room, scene and finish time |
gold_class, meta_json |
the answer class used for balancing, and construction details as a JSON string |
robots, gold_class and meta_json are ground truth. Give a model only the
video and the prompt.
Usage
import json
from huggingface_hub import snapshot_download
root = snapshot_download("qnguyen3/crosswire-bench", repo_type="dataset")
questions = [json.loads(line) for line in open(f"{root}/test.jsonl")]
q = questions[0]
video_path = f"{root}/{q['video']}" # pass this video to the model
prompt = q["prompt"] # with this text; compare the reply to q["answer"]
Because the number of options varies, we recommend reporting a
chance-normalised score alongside accuracy, kappa = (acc - C) / (1 - C), where
C is the mean chance of the items being scored.
License and attribution
The benchmark is released under the MIT License. The videos are renders of demonstrations from LIBERO (MIT License, Copyright (c) 2023 Lifelong Robot Learning), replayed with robosuite on MuJoCo.
Citation
The accompanying paper, Which Robot Did What? A Physics-Grounded Benchmark for Multi-Robot Understanding in Multimodal LLMs, is under review. Citation details will be added after publication.
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