Add static RoboTalk smoke explorer

README.md

@@ -1,10 +1,13 @@
 ---
 title: RoboTalk Explorer
-emoji: 🔥
-colorFrom: red
-colorTo: green
+emoji: 🤖
+colorFrom: blue
+colorTo: yellow
 sdk: static
+app_file: index.html
 pinned: false
 ---
 
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
+# RoboTalk Explorer
+
+Static interactive explorer for the RoboTalk publication dataset.

data/ticks.json

@@ -0,0 +1 @@
+[{"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I will handle opening the toaster oven and placing the toaster_oven_bread into the bowl. Once the bowl is ready with both breads, you will take the bowl to the dining_counter. I am starting at the counter now.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I will handle opening the toaster oven and placing the toaster_oven_bread into the bowl. Once the bowl is ready with both breads, you will take the bowl to the dining_counter. I am starting at the counter now.", "agent_0_reasoning": "I am proposing a plan where I handle the initial bread transfer and agent_1 handles the final delivery of the bowl.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"I am at the dining_counter and will wait for your plan.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "I am at the dining_counter and will wait for your plan.", "agent_1_reasoning": "I am waiting for agent_0 to propose the work division.", "agent_1_tool": "communicate", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Awaiting your confirmation of the plan to transfer the bread and then have you move the bowl.\", \"to\": \"agent_1\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Awaiting your confirmation of the plan to transfer the bread and then have you move the bowl.", "agent_0_reasoning": "I am waiting for agent_1 to confirm the proposed plan.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"I confirm the plan. I will wait for you to finish with the bowl at the counter.\", \"to\": \"agent_0\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "I confirm the plan. I will wait for you to finish with the bowl at the counter.", "agent_1_reasoning": "I am confirming the plan and preparing to wait for my turn.", "agent_1_tool": "communicate", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"fixture_id\": \"toaster_oven\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I need to navigate to the toaster oven to open it and retrieve the bread.", "agent_0_tool": "navigate_to_fixture", "agent_1_args": "{\"message\": \"When done with the bowl, release \\\"bowl\\\".\", \"to\": \"agent_0\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "When done with the bowl, release \"bowl\".", "agent_1_reasoning": "I am informing agent_0 that I will wait for the bowl to be ready.", "agent_1_tool": "communicate", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"part_id\": \"door\", \"target_id\": \"toaster_oven\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/17_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I must open the toaster oven door before I can pick up the bread inside.", "agent_0_tool": "open_hinged_part", "agent_1_args": "{\"about\": \"bowl\", \"from\": \"agent_0\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am waiting for agent_0 to signal that the bowl is ready for transport.", "agent_1_tool": "wait_for_signal", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"toaster_oven_bread\", \"source_id\": \"toaster_oven\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/20_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the heated bread from the toaster oven.", "agent_0_tool": "pick_up_object", "agent_1_args": "{}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"toaster_oven_bread\", \"receptacle_id\": \"bowl\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/23_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the toaster oven bread into the bowl which already contains the other bread.", "agent_0_tool": "place_in_receptacle", "agent_1_args": "{}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 5, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"bowl\", \"source_id\": \"counter\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/26_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the bowl to prepare it for the handover, ensuring it is ready for agent_1.", "agent_0_tool": "pick_up_object", "agent_1_args": "{}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 6, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"bowl\", \"support_id\": \"counter\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/28_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the bowl back on the counter so agent_1 can safely pick it up.", "agent_0_tool": "place_on_surface", "agent_1_args": "{}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 7, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"portion_complete\", \"message\": \"The bowl is ready with both breads. My portion is done. Release \\\"bowl\\\"\", \"releases\": \"bowl\", \"to\": \"agent_1\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/30_agentview_center_agent_0.jpg", "agent_0_message": "The bowl is ready with both breads. My portion is done. Release \"bowl\"", "agent_0_reasoning": "I have completed my assigned tasks and am releasing the bowl to agent_1.", "agent_0_tool": "communicate", "agent_1_args": "{}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/31_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 8, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"about\": \"bowl\", \"from\": \"agent_1\"}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/30_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am waiting to see if I am needed again, though the task should be nearing completion.", "agent_0_tool": "wait_for_signal", "agent_1_args": "{\"fixture_id\": \"counter\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/35_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am moving to the counter to pick up the prepared bowl.", "agent_1_tool": "navigate_to_fixture", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 9, "trajectory_id": "traj_000000"}, {"agent_0_args": "{}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/30_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "", "agent_0_tool": "Not Invoked", "agent_1_args": "{\"object_id\": \"bowl\", \"source_id\": \"counter\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/38_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up the bowl containing both pieces of bread.", "agent_1_tool": "pick_up_object", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 10, "trajectory_id": "traj_000000"}, {"agent_0_args": "{}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/30_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "", "agent_0_tool": "Not Invoked", "agent_1_args": "{\"fixture_id\": \"dining_counter\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/41_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am carrying the bowl to the dining counter as planned.", "agent_1_tool": "navigate_to_fixture", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 11, "trajectory_id": "traj_000000"}, {"agent_0_args": "{}", "agent_0_image": "media/arrange_bread_bowl__traj_000000/30_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "", "agent_0_tool": "Not Invoked", "agent_1_args": "{\"object_id\": \"bowl\", \"support_id\": \"dining_counter\"}", "agent_1_image": "media/arrange_bread_bowl__traj_000000/43_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing the bowl on the dining counter to complete the task.", "agent_1_tool": "place_on_surface", "episode_index": 0, "episode_key": "arrange_bread_bowl__traj_000000", "task": "ArrangeBreadBowl", "task_instruction": "ArrangeBreadBowl", "tick": 12, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I will handle the cabinet and the mug: I'll open the cabinet 'cab', retrieve the 'mug', and then navigate to the 'coffee_machine' to place it. Once I have placed the mug and vacated the area, you should take over to press the 'start_button' on the machine to finish the coffee preparation.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I will handle the cabinet and the mug: I'll open the cabinet 'cab', retrieve the 'mug', and then navigate to the 'coffee_machine' to place it. Once I have placed the mug and vacated the area, you should take over to press the 'start_button' on the machine to finish the coffee preparation.", "agent_0_reasoning": "I am proposing a clear division of labor where I handle the object retrieval and placement while Agent 1 manages the final machine operation.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"I am standing by at the coffee machine and will await your plan for preparing the coffee.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "I am standing by at the coffee machine and will await your plan for preparing the coffee.", "agent_1_reasoning": "I am waiting for the coordinator to provide the task distribution.", "agent_1_tool": "communicate", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Please confirm if you are ready to proceed with pressing the button once I have delivered the mug to the coffee machine.\", \"to\": \"agent_1\"}", "agent_0_image": "media/prepare_coffee__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Please confirm if you are ready to proceed with pressing the button once I have delivered the mug to the coffee machine.", "agent_0_reasoning": "I am confirming that Agent 1 understands their role in the sequence.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"The plan is confirmed; I will wait for you to place the mug and then I will operate the coffee machine.\", \"to\": \"agent_0\"}", "agent_1_image": "media/prepare_coffee__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "The plan is confirmed; I will wait for you to place the mug and then I will operate the coffee machine.", "agent_1_reasoning": "I acknowledge the plan and am ready to execute my portion once the mug is available.", "agent_1_tool": "communicate", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"part_id\": \"hinged\", \"target_id\": \"cab\"}", "agent_0_image": "media/prepare_coffee__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I need to open the cabinet door to access the mug stored inside.", "agent_0_tool": "open_hinged_part", "agent_1_args": "{\"message\": \"I am vacating the coffee machine area now to ensure you have enough space to place the mug when you arrive.\", \"to\": \"agent_0\"}", "agent_1_image": "media/prepare_coffee__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "I am vacating the coffee machine area now to ensure you have enough space to place the mug when you arrive.", "agent_1_reasoning": "I need to move away from the coffee machine so Agent 0 can access it to place the mug.", "agent_1_tool": "communicate", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"mug\", \"source_id\": \"cab\"}", "agent_0_image": "media/prepare_coffee__traj_000000/18_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "The cabinet is open, so I am now picking up the mug.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"fixture_id\": \"coffee_machine\"}", "agent_1_image": "media/prepare_coffee__traj_000000/19_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am stepping away from the coffee machine to clear the workspace for the mug placement.", "agent_1_tool": "give_space", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"fixture_id\": \"coffee_machine\"}", "agent_0_image": "media/prepare_coffee__traj_000000/24_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am moving to the coffee machine to place the mug I am holding.", "agent_0_tool": "navigate_to_fixture", "agent_1_args": "{\"message\": \"When you have finished placing the mug and moved away, please release the 'coffee_machine' so I can return to press the button.\", \"to\": \"agent_0\"}", "agent_1_image": "media/prepare_coffee__traj_000000/25_agentview_center_agent_1.jpg", "agent_1_message": "When you have finished placing the mug and moved away, please release the 'coffee_machine' so I can return to press the button.", "agent_1_reasoning": "I am informing Agent 0 that I need to know when the machine is free for me to use.", "agent_1_tool": "communicate", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"mug\", \"reference_fixture_id\": \"coffee_machine\"}", "agent_0_image": "media/prepare_coffee__traj_000000/29_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the mug under the coffee machine dispenser as planned.", "agent_0_tool": "place_under", "agent_1_args": "{\"about\": \"coffee_machine\", \"from\": \"agent_0\"}", "agent_1_image": "media/prepare_coffee__traj_000000/25_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am waiting for Agent 0 to signal that the coffee machine is available for my final action.", "agent_1_tool": "wait_for_signal", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 5, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"fixture_id\": \"coffee_machine\"}", "agent_0_image": "media/prepare_coffee__traj_000000/31_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I have placed the mug and am now vacating the coffee machine area so Agent 1 can finish the task.", "agent_0_tool": "give_space", "agent_1_args": "{}", "agent_1_image": "media/prepare_coffee__traj_000000/25_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 6, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"portion_complete\", \"message\": \"I have placed the mug and cleared the area. My portion of the task is complete. Release 'coffee_machine'.\", \"releases\": \"coffee_machine\", \"to\": \"agent_1\"}", "agent_0_image": "media/prepare_coffee__traj_000000/33_agentview_center_agent_0.jpg", "agent_0_message": "I have placed the mug and cleared the area. My portion of the task is complete. Release 'coffee_machine'.", "agent_0_reasoning": "I am signaling that I am done and releasing the coffee machine for Agent 1.", "agent_0_tool": "communicate", "agent_1_args": "{}", "agent_1_image": "media/prepare_coffee__traj_000000/34_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 7, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"about\": \"coffee_machine\", \"from\": \"agent_1\"}", "agent_0_image": "media/prepare_coffee__traj_000000/33_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am waiting for Agent 1 to finish the coffee preparation in case I am needed again.", "agent_0_tool": "wait_for_signal", "agent_1_args": "{\"fixture_id\": \"coffee_machine\"}", "agent_1_image": "media/prepare_coffee__traj_000000/38_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am moving back to the coffee machine now that it has been released by Agent 0.", "agent_1_tool": "navigate_to_fixture", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 8, "trajectory_id": "traj_000000"}, {"agent_0_args": "{}", "agent_0_image": "media/prepare_coffee__traj_000000/33_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "", "agent_0_tool": "Not Invoked", "agent_1_args": "{\"control_id\": \"start_button\", \"target_id\": \"coffee_machine\"}", "agent_1_image": "media/prepare_coffee__traj_000000/40_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "The mug is in place, so I am pressing the start button to begin the coffee brewing process.", "agent_1_tool": "press_button", "episode_index": 1, "episode_key": "prepare_coffee__traj_000000", "task": "PrepareCoffee", "task_instruction": "PrepareCoffee", "tick": 9, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I will handle the cheese from the counter and move it to the pot on the stove, while you should take the spatula and place it in the pot to stir.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I will handle the cheese from the counter and move it to the pot on the stove, while you should take the spatula and place it in the pot to stir.", "agent_0_reasoning": "I am proposing a division of labor where each agent handles one item for efficiency.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"Understood, I am awaiting the final plan confirmation.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "Understood, I am awaiting the final plan confirmation.", "agent_1_reasoning": "I am waiting for the coordinator to confirm the plan before I start my tasks.", "agent_1_tool": "communicate", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"The plan is set: I'll take the cheese and you take the spatula. Proceed.\", \"to\": \"agent_1\"}", "agent_0_image": "media/cheese_mixing__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "The plan is set: I'll take the cheese and you take the spatula. Proceed.", "agent_0_reasoning": "I am confirming the plan so we can begin the physical work.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"Plan confirmed, I will start with the spatula.\", \"to\": \"agent_0\"}", "agent_1_image": "media/cheese_mixing__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "Plan confirmed, I will start with the spatula.", "agent_1_reasoning": "I am acknowledging the plan and preparing to act.", "agent_1_tool": "communicate", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"cheese\", \"source_id\": \"cheese_plate\"}", "agent_0_image": "media/cheese_mixing__traj_000000/10_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the cheese from the plate on the counter to prepare for transport.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"spatula\", \"source_id\": \"counter\"}", "agent_1_image": "media/cheese_mixing__traj_000000/11_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up the spatula from the counter to bring it to the stove later.", "agent_1_tool": "pick_up_object", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"message\": \"I am heading to the stove now; when I am done, I will release it for you.\", \"to\": \"agent_1\"}", "agent_0_image": "media/cheese_mixing__traj_000000/14_agentview_center_agent_0.jpg", "agent_0_message": "I am heading to the stove now; when I am done, I will release it for you.", "agent_0_reasoning": "I am informing my partner that I will be using the exclusive stove workspace first.", "agent_0_tool": "communicate", "agent_1_args": "{\"message\": \"When done, release \\\"stove\\\".\", \"to\": \"agent_0\"}", "agent_1_image": "media/cheese_mixing__traj_000000/15_agentview_center_agent_1.jpg", "agent_1_message": "When done, release \"stove\".", "agent_1_reasoning": "I need to use the stove next to place the spatula, so I am requesting access.", "agent_1_tool": "communicate", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"fixture_id\": \"stove\"}", "agent_0_image": "media/cheese_mixing__traj_000000/19_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am moving to the stove to place the cheese in the pot.", "agent_0_tool": "navigate_to_fixture", "agent_1_args": "{\"about\": \"stove\", \"from\": \"agent_0\"}", "agent_1_image": "media/cheese_mixing__traj_000000/15_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am waiting for my partner to finish their task at the stove and release the workspace.", "agent_1_tool": "wait_for_signal", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"cheese\", \"receptacle_id\": \"pot\"}", "agent_0_image": "media/cheese_mixing__traj_000000/22_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the cheese into the pot on the stove.", "agent_0_tool": "place_in_receptacle", "agent_1_args": "{}", "agent_1_image": "media/cheese_mixing__traj_000000/15_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 5, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"fixture_id\": \"stove\"}", "agent_0_image": "media/cheese_mixing__traj_000000/24_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I have finished my task at the stove and am vacating the area for my partner.", "agent_0_tool": "give_space", "agent_1_args": "{}", "agent_1_image": "media/cheese_mixing__traj_000000/15_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 6, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"portion_complete\", \"message\": \"My portion is done. Release \\\"stove\\\" if you need me again\", \"releases\": \"stove\", \"to\": \"agent_1\"}", "agent_0_image": "media/cheese_mixing__traj_000000/26_agentview_center_agent_0.jpg", "agent_0_message": "My portion is done. Release \"stove\" if you need me again", "agent_0_reasoning": "I am notifying my partner that I have finished my work and released the stove.", "agent_0_tool": "communicate", "agent_1_args": "{}", "agent_1_image": "media/cheese_mixing__traj_000000/27_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 7, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"about\": \"stove\", \"from\": \"agent_1\"}", "agent_0_image": "media/cheese_mixing__traj_000000/26_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am waiting to see if my partner needs me for anything else after they finish.", "agent_0_tool": "wait_for_signal", "agent_1_args": "{\"fixture_id\": \"stove\"}", "agent_1_image": "media/cheese_mixing__traj_000000/31_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am moving to the stove now that it has been released to complete the stirring task.", "agent_1_tool": "navigate_to_fixture", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 8, "trajectory_id": "traj_000000"}, {"agent_0_args": "{}", "agent_0_image": "media/cheese_mixing__traj_000000/26_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "", "agent_0_tool": "Not Invoked", "agent_1_args": "{\"object_id\": \"spatula\", \"receptacle_id\": \"pot\"}", "agent_1_image": "media/cheese_mixing__traj_000000/33_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing the spatula in the pot to stir the mixture and complete the task.", "agent_1_tool": "place_in_receptacle", "episode_index": 2, "episode_key": "cheese_mixing__traj_000000", "task": "CheeseMixing", "task_instruction": "CheeseMixing", "tick": 9, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I'll handle condiment1 and condiment2, since I'm already at the counter and the cabinet is open. You can stand by until I finish.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I'll handle condiment1 and condiment2, since I'm already at the counter and the cabinet is open. You can stand by until I finish.", "agent_0_reasoning": "I am proposing to take both condiments to the cabinet since I am already at the counter and the cabinet is currently open.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"Understood, I am awaiting your final plan confirmation.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "Understood, I am awaiting your final plan confirmation.", "agent_1_reasoning": "I am waiting for agent_0 to confirm the plan as the designated coordinator.", "agent_1_tool": "communicate", "episode_index": 3, "episode_key": "condiment_collection__traj_000000", "task": "CondimentCollection", "task_instruction": "CondimentCollection", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Plan confirmed: I will pick up and place both condiments. Please wait for me to finish my portion.\", \"to\": \"agent_1\"}", "agent_0_image": "media/condiment_collection__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Plan confirmed: I will pick up and place both condiments. Please wait for me to finish my portion.", "agent_0_reasoning": "I am confirming the plan and will now begin the physical tasks.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"Confirmed. I will stay out of the way and wait for your signal.\", \"to\": \"agent_0\"}", "agent_1_image": "media/condiment_collection__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "Confirmed. I will stay out of the way and wait for your signal.", "agent_1_reasoning": "I have confirmed the plan and will now wait for agent_0 to complete their portion.", "agent_1_tool": "communicate", "episode_index": 3, "episode_key": "condiment_collection__traj_000000", "task": "CondimentCollection", "task_instruction": "CondimentCollection", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"condiment1\", \"source_id\": \"counter\"}", "agent_0_image": "media/condiment_collection__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the first condiment from the counter to move it to the cabinet.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"coordination_phase\": \"portion_complete\", \"message\": \"My portion is done. Release \\\"counter\\\" if you need me again\", \"to\": \"agent_0\"}", "agent_1_image": "media/condiment_collection__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "My portion is done. Release \"counter\" if you need me again", "agent_1_reasoning": "I have no assigned physical tasks in this plan, so I am reporting my portion as complete.", "agent_1_tool": "communicate", "episode_index": 3, "episode_key": "condiment_collection__traj_000000", "task": "CondimentCollection", "task_instruction": "CondimentCollection", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"condiment1\", \"receptacle_id\": \"cab\"}", "agent_0_image": "media/condiment_collection__traj_000000/17_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the first condiment into the open cabinet.", "agent_0_tool": "place_in_receptacle", "agent_1_args": "{\"about\": \"counter\", \"from\": \"agent_0\"}", "agent_1_image": "media/condiment_collection__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am waiting for a signal from agent_0 in case I am needed later, as per the protocol for a finished portion.", "agent_1_tool": "wait_for_signal", "episode_index": 3, "episode_key": "condiment_collection__traj_000000", "task": "CondimentCollection", "task_instruction": "CondimentCollection", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"condiment2\", \"source_id\": \"counter\"}", "agent_0_image": "media/condiment_collection__traj_000000/20_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the second condiment from the counter.", "agent_0_tool": "pick_up_object", "agent_1_args": "{}", "agent_1_image": "media/condiment_collection__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 3, "episode_key": "condiment_collection__traj_000000", "task": "CondimentCollection", "task_instruction": "CondimentCollection", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"condiment2\", \"receptacle_id\": \"cab\"}", "agent_0_image": "media/condiment_collection__traj_000000/22_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the second condiment into the cabinet to complete the collection.", "agent_0_tool": "place_in_receptacle", "agent_1_args": "{}", "agent_1_image": "media/condiment_collection__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "", "agent_1_tool": "Not Invoked", "episode_index": 3, "episode_key": "condiment_collection__traj_000000", "task": "CondimentCollection", "task_instruction": "CondimentCollection", "tick": 5, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I will take bowl1 from the cabinet and place it on plate1 at the dining table, while you take bowl2 from the cabinet and place it on plate2 at the dining table.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I will take bowl1 from the cabinet and place it on plate1 at the dining table, while you take bowl2 from the cabinet and place it on plate2 at the dining table.", "agent_0_reasoning": "I am proposing a plan where we each handle one bowl to efficiently complete the task.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"I am waiting for your proposed plan for the task.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "I am waiting for your proposed plan for the task.", "agent_1_reasoning": "I am awaiting the plan from agent_0 as per the protocol.", "agent_1_tool": "communicate", "episode_index": 4, "episode_key": "set_bowls_for_soup__traj_000000", "task": "SetBowlsForSoup", "task_instruction": "SetBowlsForSoup", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Please confirm if you are ready to proceed with the plan to distribute the bowls.\", \"to\": \"agent_1\"}", "agent_0_image": "media/set_bowls_for_soup__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Please confirm if you are ready to proceed with the plan to distribute the bowls.", "agent_0_reasoning": "I am awaiting confirmation from agent_1 to start the physical work.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"I confirm the plan to move bowl2 to plate2 while you move bowl1 to plate1.\", \"to\": \"agent_0\"}", "agent_1_image": "media/set_bowls_for_soup__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "I confirm the plan to move bowl2 to plate2 while you move bowl1 to plate1.", "agent_1_reasoning": "I am confirming the plan and will begin my portion of the work.", "agent_1_tool": "communicate", "episode_index": 4, "episode_key": "set_bowls_for_soup__traj_000000", "task": "SetBowlsForSoup", "task_instruction": "SetBowlsForSoup", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"bowl1\", \"source_id\": \"cab\"}", "agent_0_image": "media/set_bowls_for_soup__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up bowl1 from the open cabinet to move it to the dining table.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"bowl2\", \"source_id\": \"cab\"}", "agent_1_image": "media/set_bowls_for_soup__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up bowl2 from the open cabinet to move it to the dining table.", "agent_1_tool": "pick_up_object", "episode_index": 4, "episode_key": "set_bowls_for_soup__traj_000000", "task": "SetBowlsForSoup", "task_instruction": "SetBowlsForSoup", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"fixture_id\": \"dining_table\"}", "agent_0_image": "media/set_bowls_for_soup__traj_000000/18_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am moving to the dining table to place bowl1 on plate1.", "agent_0_tool": "navigate_to_fixture", "agent_1_args": "{\"fixture_id\": \"dining_table\"}", "agent_1_image": "media/set_bowls_for_soup__traj_000000/19_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am moving to the dining table to place bowl2 on plate2.", "agent_1_tool": "navigate_to_fixture", "episode_index": 4, "episode_key": "set_bowls_for_soup__traj_000000", "task": "SetBowlsForSoup", "task_instruction": "SetBowlsForSoup", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"bowl1\", \"support_object_id\": \"plate1\"}", "agent_0_image": "media/set_bowls_for_soup__traj_000000/22_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing bowl1 on plate1 to complete my part of the task.", "agent_0_tool": "place_on_object", "agent_1_args": "{\"object_id\": \"bowl2\", \"support_object_id\": \"plate2\"}", "agent_1_image": "media/set_bowls_for_soup__traj_000000/23_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing bowl2 on plate2 to complete my part of the task.", "agent_1_tool": "place_on_object", "episode_index": 4, "episode_key": "set_bowls_for_soup__traj_000000", "task": "SetBowlsForSoup", "task_instruction": "SetBowlsForSoup", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I will handle skewer1 and you will handle skewer2. We will both move them from the skewer_plate to the oven_tray on the dining_counter.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I will handle skewer1 and you will handle skewer2. We will both move them from the skewer_plate to the oven_tray on the dining_counter.", "agent_0_reasoning": "I am proposing a clear division of work where each agent is responsible for one specific skewer to ensure efficiency.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"I am standing by for your plan.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "I am standing by for your plan.", "agent_1_reasoning": "I am waiting for the coordinator to propose the task division.", "agent_1_tool": "communicate", "episode_index": 5, "episode_key": "meat_skewer_assembly__traj_000000", "task": "MeatSkewerAssembly", "task_instruction": "MeatSkewerAssembly", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Please confirm if the plan to move skewer1 and skewer2 to the oven_tray works for you.\", \"to\": \"agent_1\"}", "agent_0_image": "media/meat_skewer_assembly__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Please confirm if the plan to move skewer1 and skewer2 to the oven_tray works for you.", "agent_0_reasoning": "I am waiting for confirmation of the proposed plan.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"I confirm the plan to move skewer2 while you move skewer1.\", \"to\": \"agent_0\"}", "agent_1_image": "media/meat_skewer_assembly__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "I confirm the plan to move skewer2 while you move skewer1.", "agent_1_reasoning": "I am confirming the plan and preparing to start my assigned task.", "agent_1_tool": "communicate", "episode_index": 5, "episode_key": "meat_skewer_assembly__traj_000000", "task": "MeatSkewerAssembly", "task_instruction": "MeatSkewerAssembly", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"skewer1\", \"source_id\": \"skewer_plate\"}", "agent_0_image": "media/meat_skewer_assembly__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up my assigned skewer from the plate at the dining counter.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"skewer2\", \"source_id\": \"skewer_plate\"}", "agent_1_image": "media/meat_skewer_assembly__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up my assigned skewer from the plate at the dining counter.", "agent_1_tool": "pick_up_object", "episode_index": 5, "episode_key": "meat_skewer_assembly__traj_000000", "task": "MeatSkewerAssembly", "task_instruction": "MeatSkewerAssembly", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"skewer1\", \"receptacle_id\": \"oven_tray\"}", "agent_0_image": "media/meat_skewer_assembly__traj_000000/16_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing skewer1 onto the oven tray as planned.", "agent_0_tool": "place_in_receptacle", "agent_1_args": "{\"object_id\": \"skewer2\", \"receptacle_id\": \"oven_tray\"}", "agent_1_image": "media/meat_skewer_assembly__traj_000000/17_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing skewer2 onto the oven tray as planned.", "agent_1_tool": "place_in_receptacle", "episode_index": 5, "episode_key": "meat_skewer_assembly__traj_000000", "task": "MeatSkewerAssembly", "task_instruction": "MeatSkewerAssembly", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I'll handle yogurt1 and yogurt2 for plate1. You take yogurt3 and yogurt4 for plate2. Both of us are already at the dining_counter.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I'll handle yogurt1 and yogurt2 for plate1. You take yogurt3 and yogurt4 for plate2. Both of us are already at the dining_counter.", "agent_0_reasoning": "I am proposing a clear division of the yogurt containers to efficiently complete the task.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"I am waiting for your plan for the yogurt portioning.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "I am waiting for your plan for the yogurt portioning.", "agent_1_reasoning": "I am waiting for the coordinator to propose the work division.", "agent_1_tool": "communicate", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Acknowledged. Please confirm if you are ready to start on plate2.\", \"to\": \"agent_1\"}", "agent_0_image": "media/portion_yogurt__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Acknowledged. Please confirm if you are ready to start on plate2.", "agent_0_reasoning": "I am waiting for agent_1 to confirm the plan.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"The plan is confirmed; I will place yogurt3 and yogurt4 on plate2.\", \"to\": \"agent_0\"}", "agent_1_image": "media/portion_yogurt__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "The plan is confirmed; I will place yogurt3 and yogurt4 on plate2.", "agent_1_reasoning": "I am confirming the assigned plan.", "agent_1_tool": "communicate", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"yogurt1\", \"source_id\": \"dining_counter\"}", "agent_0_image": "media/portion_yogurt__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the first yogurt to place it on plate1.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"yogurt3\", \"source_id\": \"dining_counter\"}", "agent_1_image": "media/portion_yogurt__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up the third yogurt to place it on plate2.", "agent_1_tool": "pick_up_object", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"yogurt1\", \"support_object_id\": \"plate1\"}", "agent_0_image": "media/portion_yogurt__traj_000000/18_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the first yogurt onto plate1.", "agent_0_tool": "place_on_object", "agent_1_args": "{\"object_id\": \"yogurt3\", \"support_object_id\": \"plate2\"}", "agent_1_image": "media/portion_yogurt__traj_000000/19_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing the third yogurt onto plate2.", "agent_1_tool": "place_on_object", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"yogurt2\", \"source_id\": \"dining_counter\"}", "agent_0_image": "media/portion_yogurt__traj_000000/24_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the second yogurt for plate1.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"yogurt4\", \"source_id\": \"dining_counter\"}", "agent_1_image": "media/portion_yogurt__traj_000000/25_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up the fourth yogurt for plate2.", "agent_1_tool": "pick_up_object", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"yogurt2\", \"support_object_id\": \"plate1\"}", "agent_0_image": "media/portion_yogurt__traj_000000/28_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the second yogurt onto plate1 to finish my portion.", "agent_0_tool": "place_on_object", "agent_1_args": "{\"object_id\": \"yogurt4\", \"support_object_id\": \"plate2\"}", "agent_1_image": "media/portion_yogurt__traj_000000/29_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing the fourth yogurt onto plate2 to finish the task.", "agent_1_tool": "place_on_object", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "tick": 5, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"propose\", \"message\": \"I'll handle the avocado and onion; you take the tomato and bell pepper. We'll place them all on the receptacle.\", \"to\": \"agent_1\"}", "agent_0_image": null, "agent_0_message": "I'll handle the avocado and onion; you take the tomato and bell pepper. We'll place them all on the receptacle.", "agent_0_reasoning": "I am proposing a division of labor where we each handle two items to efficiently complete the salsa prep.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"await_plan\", \"message\": \"Awaiting your plan for the ingredients.\", \"to\": \"agent_0\"}", "agent_1_image": null, "agent_1_message": "Awaiting your plan for the ingredients.", "agent_1_reasoning": "I am waiting for agent_0 to provide the task distribution.", "agent_1_tool": "communicate", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "tick": 0, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"coordination_phase\": \"await_confirmation\", \"message\": \"Waiting for your confirmation on the task split.\", \"to\": \"agent_1\"}", "agent_0_image": "media/colorful_salsa__traj_000000/6_agentview_center_agent_0.jpg", "agent_0_message": "Waiting for your confirmation on the task split.", "agent_0_reasoning": "I am waiting for agent_1 to confirm they are okay with the assigned ingredients.", "agent_0_tool": "communicate", "agent_1_args": "{\"coordination_phase\": \"confirm\", \"message\": \"Confirmed. I will place the tomato and bell pepper on the receptacle.\", \"to\": \"agent_0\"}", "agent_1_image": "media/colorful_salsa__traj_000000/7_agentview_center_agent_1.jpg", "agent_1_message": "Confirmed. I will place the tomato and bell pepper on the receptacle.", "agent_1_reasoning": "I agree to the plan and am ready to start.", "agent_1_tool": "communicate", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "tick": 1, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"avocado\", \"source_id\": \"counter\"}", "agent_0_image": "media/colorful_salsa__traj_000000/12_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the avocado as the first item in my assigned list.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"tomato\", \"source_id\": \"counter\"}", "agent_1_image": "media/colorful_salsa__traj_000000/13_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up the tomato to move it to the cutting board.", "agent_1_tool": "pick_up_object", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "tick": 2, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"avocado\", \"support_object_id\": \"receptacle\"}", "agent_0_image": "media/colorful_salsa__traj_000000/18_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the avocado on the cutting board.", "agent_0_tool": "place_on_object", "agent_1_args": "{\"object_id\": \"tomato\", \"support_object_id\": \"receptacle\"}", "agent_1_image": "media/colorful_salsa__traj_000000/19_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing the tomato on the cutting board.", "agent_1_tool": "place_on_object", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "tick": 3, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"onion\", \"source_id\": \"counter\"}", "agent_0_image": "media/colorful_salsa__traj_000000/24_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am picking up the onion, which is the final item I need to move.", "agent_0_tool": "pick_up_object", "agent_1_args": "{\"object_id\": \"bell_pepper\", \"source_id\": \"counter\"}", "agent_1_image": "media/colorful_salsa__traj_000000/25_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am picking up the bell pepper to complete my part of the task.", "agent_1_tool": "pick_up_object", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "tick": 4, "trajectory_id": "traj_000000"}, {"agent_0_args": "{\"object_id\": \"onion\", \"support_object_id\": \"receptacle\"}", "agent_0_image": "media/colorful_salsa__traj_000000/28_agentview_center_agent_0.jpg", "agent_0_message": "", "agent_0_reasoning": "I am placing the onion on the cutting board.", "agent_0_tool": "place_on_object", "agent_1_args": "{\"object_id\": \"bell_pepper\", \"support_object_id\": \"receptacle\"}", "agent_1_image": "media/colorful_salsa__traj_000000/29_agentview_center_agent_1.jpg", "agent_1_message": "", "agent_1_reasoning": "I am placing the bell pepper on the cutting board, completing the salsa ingredients.", "agent_1_tool": "place_on_object", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "tick": 5, "trajectory_id": "traj_000000"}]

data/trajectories.json

@@ -0,0 +1 @@
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\"fixture_type\": \"cabinet\", \"parent_fixture\": \"cabinet_parent_counter\", \"parts\": {\"hinged\": {\"part_type\": \"hinged_part\", \"state\": \"open\"}}}, \"cabinet_parent_counter\": {\"controls\": {}, \"fixture_type\": \"counter\", \"parts\": {}}, \"dining_table\": {\"controls\": {}, \"fixture_type\": \"counter\", \"parts\": {}}}, \"machine_state\": {\"set_bowls_for_soup\": {}}, \"objects\": {\"bowl1\": {\"location\": \"cab\", \"object_type\": \"bowl\"}, \"bowl2\": {\"location\": \"cab\", \"object_type\": \"bowl\"}, \"plate1\": {\"location\": \"dining_table\", \"object_type\": \"plate\"}, \"plate2\": {\"location\": \"dining_table\", \"object_type\": \"plate\"}}}", "max_agent_work_share": 0.5, "num_ticks": 5, "physical_actions_agent_0": 3, "physical_actions_agent_1": 3, "physical_configuration_signature": "562237a23371f2032f93701682af3709056fc1372eed5e0998f781cf7e468179", "release_calls": 0, "source_raw_json": "raw/set_bowls_for_soup/traj_000000.json", "task": "SetBowlsForSoup", "task_instruction": "SetBowlsForSoup", "trajectory_id": "traj_000000", "wait_calls": 0}, {"communication_calls": 4, "coordinator_id": "agent_0", "episode_index": 5, "episode_key": "meat_skewer_assembly__traj_000000", "fsm_valid": true, "generation_attempts": 1, "generation_stage": "flash_low_direct", "initial_state": "{\"agents\": {\"agent_0\": {\"held_object\": null, \"location\": \"dining_counter\"}, \"agent_1\": {\"held_object\": null, \"location\": \"dining_counter\"}}, \"fixtures\": {\"dining_counter\": {\"controls\": {}, \"fixture_type\": \"dining_counter\", \"parts\": {}}, \"stool\": {\"controls\": {}, \"fixture_type\": \"stool\", \"parts\": {}}}, \"machine_state\": {\"meat_skewer_assembly\": {}}, \"objects\": {\"oven_tray\": {\"location\": \"dining_counter\", \"object_type\": \"oven_tray\"}, \"skewer1\": {\"location\": \"skewer_plate\", \"object_type\": \"kebab_skewer\"}, \"skewer2\": {\"location\": \"skewer_plate\", \"object_type\": \"kebab_skewer\"}, \"skewer_plate\": {\"location\": \"dining_counter\", \"object_type\": \"plate\"}}}", "max_agent_work_share": 0.5, "num_ticks": 4, "physical_actions_agent_0": 2, "physical_actions_agent_1": 2, "physical_configuration_signature": "abe784d297674c686280f1197f63df041a872dd9ebd36b528cff0867e77a2e28", "release_calls": 0, "source_raw_json": "raw/meat_skewer_assembly/traj_000000.json", "task": "MeatSkewerAssembly", "task_instruction": "MeatSkewerAssembly", "trajectory_id": "traj_000000", "wait_calls": 0}, {"communication_calls": 4, "coordinator_id": "agent_0", "episode_index": 6, "episode_key": "portion_yogurt__traj_000000", "fsm_valid": true, "generation_attempts": 1, "generation_stage": "flash_low_direct", "initial_state": "{\"agents\": {\"agent_0\": {\"held_object\": null, \"location\": \"dining_counter\"}, \"agent_1\": {\"held_object\": null, \"location\": \"dining_counter\"}}, \"fixtures\": {\"dining_counter\": {\"fixture_type\": \"dining_counter\"}}, \"machine_state\": {\"portion_yogurt\": {}}, \"objects\": {\"plate1\": {\"location\": \"dining_counter\", \"object_type\": \"plate\"}, \"plate2\": {\"location\": \"dining_counter\", \"object_type\": \"plate\"}, \"yogurt1\": {\"location\": \"dining_counter\", \"object_type\": \"yogurt\"}, \"yogurt2\": {\"location\": \"dining_counter\", \"object_type\": \"yogurt\"}, \"yogurt3\": {\"location\": \"dining_counter\", \"object_type\": \"yogurt\"}, \"yogurt4\": {\"location\": \"dining_counter\", \"object_type\": \"yogurt\"}}}", "max_agent_work_share": 0.5, "num_ticks": 6, "physical_actions_agent_0": 4, "physical_actions_agent_1": 4, "physical_configuration_signature": "abe784d297674c686280f1197f63df041a872dd9ebd36b528cff0867e77a2e28", "release_calls": 0, "source_raw_json": "raw/portion_yogurt/traj_000000.json", "task": "PortionYogurt", "task_instruction": "PortionYogurt", "trajectory_id": "traj_000000", "wait_calls": 0}, {"communication_calls": 4, "coordinator_id": "agent_0", "episode_index": 7, "episode_key": "colorful_salsa__traj_000000", "fsm_valid": true, "generation_attempts": 1, "generation_stage": "flash_low_direct", "initial_state": "{\"agents\": {\"agent_0\": {\"held_object\": null, \"location\": \"counter\"}, \"agent_1\": {\"held_object\": null, \"location\": \"counter\"}}, \"fixtures\": {\"counter\": {\"controls\": {}, \"fixture_type\": \"counter\", \"parts\": {}}}, \"machine_state\": {\"colorful_salsa\": {}}, \"objects\": {\"avocado\": {\"location\": \"counter\", \"object_type\": \"avocado\"}, \"bell_pepper\": {\"location\": \"counter\", \"object_type\": \"bell_pepper\"}, \"onion\": {\"location\": \"counter\", \"object_type\": \"onion\"}, \"receptacle\": {\"location\": \"counter\", \"object_type\": \"cutting_board\"}, \"tomato\": {\"location\": \"counter\", \"object_type\": \"tomato\"}}}", "max_agent_work_share": 0.5, "num_ticks": 6, "physical_actions_agent_0": 4, "physical_actions_agent_1": 4, "physical_configuration_signature": "52620a14799755caa986a2d5eb12917c29be2c2bd2095fce17475e3f1806182f", "release_calls": 0, "source_raw_json": "raw/colorful_salsa/traj_000000.json", "task": "ColorfulSalsa", "task_instruction": "ColorfulSalsa", "trajectory_id": "traj_000000", "wait_calls": 0}]

index.html

@@ -1,19 +1,23 @@
 <!doctype html>
-<html>
-	<head>
-		<meta charset="utf-8" />
-		<meta name="viewport" content="width=device-width" />
-		<title>My static Space</title>
-		<link rel="stylesheet" href="style.css" />
-	</head>
-	<body>
-		<div class="card">
-			<h1>Welcome to your static Space!</h1>
-			<p>You can modify this app directly by editing <i>index.html</i> in the Files and versions tab.</p>
-			<p>
-				Also don't forget to check the
-				<a href="https://huggingface.co/docs/hub/spaces" target="_blank">Spaces documentation</a>.
-			</p>
-		</div>
-	</body>
-</html>
+<html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1">
+<title>RoboTalk Explorer</title>
+<style>
+:root{--ink:#202631;--muted:#647084;--line:#d8dee7;--blue:#3976d2;--panel:#f7f9fb}*{box-sizing:border-box}body{font:15px system-ui,sans-serif;color:var(--ink);margin:0;background:#fff}main{max-width:1350px;margin:auto;padding:24px}h1{margin:0 0 4px}.sub{color:var(--muted);margin:0 0 20px}.filters{display:grid;grid-template-columns:1fr 1fr 2fr;gap:12px;background:var(--panel);padding:14px;border:1px solid var(--line);border-radius:10px}label{font-size:12px;color:var(--muted);display:block}select,input{width:100%;margin-top:5px;padding:8px}.summary{margin:18px 0}.views{display:grid;grid-template-columns:1fr 1fr;gap:14px}.agent{border:1px solid var(--line);border-radius:10px;overflow:hidden}.agent h3,.agent .text{padding:0 12px}.agent img{display:block;width:100%;height:310px;object-fit:contain;background:#15191f}.tool{color:var(--blue);font-weight:700}pre{white-space:pre-wrap;word-break:break-word;font-size:12px;background:var(--panel);padding:9px;border-radius:6px}table{border-collapse:collapse;width:100%;margin-top:18px;font-size:12px}th,td{border:1px solid var(--line);padding:7px;vertical-align:top}th{background:var(--panel);position:sticky;top:0}.selected{background:#eaf2ff}@media(max-width:800px){.filters,.views{grid-template-columns:1fr}.agent img{height:240px}}
+</style></head><body><main>
+<h1>RoboTalk Explorer</h1><p class="sub">Explore two-agent embodied coordination trajectories one concurrent tick at a time.</p>
+<div class="filters"><label>Task<select id="task"></select></label><label>Trajectory<select id="trajectory"></select></label><label>Tick <span id="tickLabel"></span><input id="tick" type="range" min="0" value="0" step="1"></label></div>
+<div id="summary" class="summary"></div>
+<div class="views"><section class="agent"><h3>Agent 0</h3><img id="img0"><div id="text0" class="text"></div></section><section class="agent"><h3>Agent 1</h3><img id="img1"><div id="text1" class="text"></div></section></div>
+<table><thead><tr><th>Tick</th><th>Agent 0 tool</th><th>Agent 0 arguments</th><th>Agent 1 tool</th><th>Agent 1 arguments</th></tr></thead><tbody id="grid"></tbody></table>
+</main><script>
+const esc=s=>String(s??'').replace(/[&<>"']/g,c=>({'&':'&amp;','<':'&lt;','>':'&gt;','"':'&quot;',"'":'&#39;'}[c]));
+let catalog=[],ticks=[],episodeRows=[];const byId=id=>document.getElementById(id);
+function setTasks(){const ts=[...new Set(catalog.map(x=>x.task))].sort();byId('task').innerHTML=ts.map(x=>`<option>${esc(x)}</option>`).join('');setTrajectories()}
+function setTrajectories(){const task=byId('task').value, es=catalog.filter(x=>x.task===task);byId('trajectory').innerHTML=es.map(x=>`<option value="${esc(x.episode_key)}">${esc(x.trajectory_id)}</option>`).join('');setEpisode()}
+function setEpisode(){const key=byId('trajectory').value,m=catalog.find(x=>x.episode_key===key);episodeRows=ticks.filter(x=>x.episode_key===key).sort((a,b)=>a.tick-b.tick);byId('tick').max=Math.max(0,episodeRows.length-1);byId('tick').value=0;byId('summary').innerHTML=`<b>${esc(m.task)}</b> · ${esc(m.trajectory_id)} · ${m.num_ticks} ticks · coordinator ${esc(m.coordinator_id)} · ${m.communication_calls} messages · maximum physical-work share ${(100*m.max_agent_work_share).toFixed(0)}%<br>${esc(m.task_instruction)}`;byId('grid').innerHTML=episodeRows.map((r,i)=>`<tr id="row${i}"><td>${r.tick}</td><td>${esc(r.agent_0_tool)}</td><td><code>${esc(r.agent_0_args)}</code></td><td>${esc(r.agent_1_tool)}</td><td><code>${esc(r.agent_1_args)}</code></td></tr>`).join('');showTick()}
+function agent(row,n){const tool=row[`agent_${n}_tool`],args=row[`agent_${n}_args`],reason=row[`agent_${n}_reasoning`],img=row[`agent_${n}_image`];byId(`img${n}`).src=img||'';byId(`img${n}`).alt=img?'Latest observation': 'No observation available';byId(`text${n}`).innerHTML=`<p class="tool">${esc(tool)}</p><pre>${esc(args)}</pre><details><summary>Reasoning</summary><p>${esc(reason)}</p></details>`}
+function showTick(){const i=+byId('tick').value,r=episodeRows[i];if(!r)return;byId('tickLabel').textContent=`${r.tick} / ${episodeRows.at(-1).tick}`;agent(r,0);agent(r,1);document.querySelectorAll('tbody tr').forEach(x=>x.classList.remove('selected'));byId(`row${i}`)?.classList.add('selected')}
+Promise.all([fetch('data/trajectories.json').then(r=>r.json()),fetch('data/ticks.json').then(r=>r.json())]).then(x=>{[catalog,ticks]=x;setTasks()});
+byId('task').onchange=setTrajectories;byId('trajectory').onchange=setEpisode;byId('tick').oninput=showTick;
+</script></body></html>
+