{ "test": { "MVUCSQAKTKJ5EAABAAAAABQ8_usd": { "pillow/model_82f92edfff2966e4a1f956603c932f32_0": [ { "instruction": "Pick the pillow from the table and place it near the picture in the bedroom, where there is another pillow below the picture.", "condition": [ { "object_attribute": { "instance_id": "picture/model_feb4991025af3ad76e856bcbe666bf92_0", "category": "picture", "room": null, "appearance": null, "relation": [ [ true, "below", "pillow" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_794fb7b037149862a6889d817e66af39_0", "category": "table", "room": "12/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a table located near the pillow. nothing is above the pillow.)\". The target location is nearby a picture( There is/are a pillow located below the object.), and nearby a table(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_09_ZXWVVRJVAIJBYPTULQ888888", "pillow/SM_10_ZXWVVRJVAIJBYPTULQ888888" ] }, { "instruction": "Pick the pillow from the table and place it on the desk near the curtain.", "condition": [ { "object_attribute": { "instance_id": "desk/model_129eaaa4206674a5140994f4ced17268_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_e458dfac23379e3f599c64eb619eab38_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a table located near the pillow. nothing is above the pillow.)\". The target location is on a desk, and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_09_ZXWVVRJVAIJBYPTULQ888888", "pillow/SM_10_ZXWVVRJVAIJBYPTULQ888888" ] } ], "pillow/model_4e5b4b9f0b9261402e405441e602edec_0": [ { "instruction": "Pick the beige pillow from the bed near the cabinet and place it in the living room near the TV stand and the book.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_3df4ccf6684cde712f79a51e8888ad05_0", "category": "tvstand", "room": "13/living room", "appearance": null, "relation": [ [ true, "near", "tv" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "book/model_830306876ff54a86dbcc35df979cc8d2_0", "category": "book", "room": "13/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a cabinet located near the pillow. There is/are a bed located contain/hold the pillow. It is beige in color.)\". The target location is nearby a tvstand(This object is in living room. There is/are a tv located near the object.), and nearby a book(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_05_6FMNUM4TD5TGIPTULM888888", "pillow/SM_07_6FMNUM4TD5TGIPTULM888888" ] }, { "instruction": "Pick the pillow with slightly pointed edges from the bed near the cabinet and place it on the cabinet in the bedroom, which is nearby the bed.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_ae837cc0d1d9ab86373b3e84267aed7e_0", "category": "cabinet", "room": "3/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_9ba743eed1783735aed4deec55ef651b_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a cabinet located near the pillow. There is/are a bed located contain/hold the pillow. The edges of the pillow are slightly pointed.)\". The target location is on a cabinet(This object is in bedroom.), and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_05_6FMNUM4TD5TGIPTULM888888", "pillow/SM_07_6FMNUM4TD5TGIPTULM888888" ] } ], "basket/model_8aa79df9bdd027234ef70ce985828995_0": [ { "instruction": "Pick the basket and place it near the cabinet in the bedroom with slightly rounded top edges, and near the beige pillow.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_f6858621053076dd0b203508f4949600_0", "category": "cabinet", "room": "8/bedroom", "appearance": [ "The top edges are slightly rounded." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_4e5b4b9f0b9261402e405441e602edec_0", "category": "pillow", "room": null, "appearance": [ "It is beige in color." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a cabinet(This object is in bedroom.The top edges are slightly rounded.), and nearby a pillow(It is beige in color.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6PY52XBVAV6OSPTUKQ888888" ] }, { "instruction": "Pick the basket and place it near the desk and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "desk/model_c12a9b122a2bcc141913669fab10645a_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_1a8e93dc1f49f7686b736b9dd2ebcd1f_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a desk, and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6PY52XBVAV6OSPTUKQ888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAADY8_usd": { "pillow/model_de738f7295e9372b0457faacdc771fff_0": [ { "instruction": "Pick the pillow near the chair and place it on the table in the bedroom, which is near a chair and a door.", "condition": [ { "object_attribute": { "instance_id": "table/model_d903f86de1d0e60504f48d44671ac6d3_0", "category": "table", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_1c685a9ab96c49bd68084b08218d8720_0", "category": "chair", "room": "1/bedroom", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow.)\". The target location is on a table(This object is in bedroom.), and nearby a chair(This object is in bedroom. There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_07_ZSJWBLJVAV2LUPTUKE888888", "pillow/SM_08_ZSJWBLJVAV2LUPTUKE888888" ] }, { "instruction": "Pick the pillow near the chair and place it in the balcony, nearby the cabinet and the window.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_251d45d5d54a909a70f0f45c717edcb0_0", "category": "cabinet", "room": "3/balcony", "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_80cb92b57bc1f5b00fcfa00d2a0cb517_0", "category": "window", "room": "3/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow.)\". The target location is nearby a cabinet(This object is in balcony.nothing is below the object.), and nearby a window(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_07_ZSJWBLJVAV2LUPTUKE888888", "pillow/SM_08_ZSJWBLJVAV2LUPTUKE888888" ] } ], "picture/model_cae5ede951d54085f56222098009c6a9_0": [ { "instruction": "Pick the picture in the dining room and place it near the cabinet and the toilet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_c6113ae3b3652c485c02a0dca2a4a175_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toilet/model_9b773fd00bc7a69cb9fd954d0c2a48d9_0", "category": "toilet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in dinning room.)\". The target location is nearby a cabinet, and nearby a toilet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6PGEPWRVAUN5KPTUKE888888" ] }, { "instruction": "Pick the picture from the dining room and place it in the living room nearby a decoration and a blanket.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_5d88150685d087ab64727b22938c3a5c_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_8789eb76800a786fe8f7521b5e20f5ba_0", "category": "blanket", "room": "5/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in dinning room.)\". The target location is nearby a decoration, and nearby a blanket(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6PGEPWRVAUN5KPTUKE888888" ] } ], "picture/model_4e57a5ec6157e1ef3e8151645f5c3fb7_0": [ { "instruction": "Pick the picture in the bathroom and place it nearby the chair and table in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "chair/model_1c685a9ab96c49bd68084b08218d8720_0", "category": "chair", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_d903f86de1d0e60504f48d44671ac6d3_0", "category": "table", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bathroom.)\". The target location is nearby a chair(This object is in bedroom.), and nearby a table(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6PGEPWRVAUN5KPTUKE888888" ] }, { "instruction": "Pick the picture in the bathroom and place it on the chair in the bedroom, near the cabinet and the decoration.", "condition": [ { "object_attribute": { "instance_id": "chair/model_ebcda95e21d5953e9142a2a9482f4347_0", "category": "chair", "room": "2/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_0ac176815c06697532d2eddbed1ddaa7_0", "category": "decoration", "room": "2/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bathroom.)\". The target location is on a chair(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a decoration(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6PGEPWRVAUN5KPTUKE888888" ] } ], "pillow/model_331c2f2e2e0f05ef6456b5d0e4ef3784_0": [ { "instruction": "Pick the pillow, which is near a window and above a blanket, and place it on the chair near another pillow.", "condition": [ { "object_attribute": { "instance_id": "chair/model_1c685a9ab96c49bd68084b08218d8720_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_8f6643ff5a2b7a0245807a57ca2b772a_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow. There is/are a blanket located below the pillow.)\". The target location is on a chair, and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_04_ZTSE7CZVAUCAYPTULA888888", "pillow/SM_06_ZTSE7CZVAUCAYPTULA888888" ] }, { "instruction": "Pick the pillow located near the window and above the blanket, and place it nearby the cabinet in the bedroom and near the blanket.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_8e59ca4d36fae9c3bbd1dd4606bbaee4_0", "category": "cabinet", "room": "2/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_9ea31296bd355202cf781832ecd56af3_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow. There is/are a blanket located below the pillow.)\". The target location is nearby a cabinet(This object is in bedroom.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_04_ZTSE7CZVAUCAYPTULA888888", "pillow/SM_06_ZTSE7CZVAUCAYPTULA888888" ] } ], "light/model_c3f6cf66f097ac08c3bfc50208b1d49b_0": [ { "instruction": "Pick the light in the dining room near the cabinet and place it near the pillow by the bed.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_bb553b101840b4d0e0044035dd5d28e6_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_c590b34846c4202ff47658024c0b32c4_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room. There is/are a cabinet located near the light.)\". The target location is nearby a pillow(nothing is above the object.), and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6LTWTQBVAZWC2PTULI888888" ] }, { "instruction": "Pick the light in the dining room near the cabinet and place it by the hearth near the window.", "condition": [ { "object_attribute": { "instance_id": "hearth/model_b3e877c43c357ef90c2e0eb051c4c9fd_0", "category": "hearth", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_d283f8715f0704189c5118f12fdd57e2_0", "category": "window", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room. There is/are a cabinet located near the light.)\". The target location is nearby a hearth, and nearby a window.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6LTWTQBVAZWC2PTULI888888" ] } ], "pan/model_37944a2688ce05cd10f02c28a3cfb2c3_0": [ { "instruction": "Pick the pan and place it near the curtain, above the cabinet.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_d4d3cc8235df1778c27ea2e4c04f8630_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_2719fec6af858bf8e5794a56847b5094_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "below", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is nearby a curtain, and nearby a cabinet( There is/are a cabinet located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWC6ZVAIHQ4PTUJQ888888" ] }, { "instruction": "Pick the pan and place it near the blanket and the bed. There is a door located near the object.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_590aa746a353be262537c79a08a5e1d9_0", "category": "blanket", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_26994b04b5ffede250345b3b8fb8ab03_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is nearby a blanket( There is/are a door located near the object.), and nearby a bed( There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWC6ZVAIHQ4PTUJQ888888" ] } ], "pot/model_59c2dfd762efaaf49392b08a941bb014_0": [ { "instruction": "Pick the pot, and place it on the cabinet in the kitchen, near the oven and the faucet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_d5c27faa9b141913cfab9f8f42f888c8_0", "category": "cabinet", "room": "6/kitchen", "appearance": null, "relation": [ [ true, "near", "oven" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "faucet/model_b51e8a7684c235c2ed3d79b57ace4eaa_0", "category": "faucet", "room": "6/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a cabinet(This object is in kitchen. There is/are a oven located near the object.), and nearby a faucet(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWH2ZVAJ33YPTUJU888888" ] }, { "instruction": "Pick the pot and place it on the cabinet in the kitchen, near the oven and the dishwasher.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_d5c27faa9b141913cfab9f8f42f888c8_0", "category": "cabinet", "room": "6/kitchen", "appearance": null, "relation": [ [ true, "near", "oven" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "dishwasher/model_69be6007323299e07cb5462973c55690_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a cabinet(This object is in kitchen. There is/are a oven located near the object.), and nearby a dishwasher.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWH2ZVAJ33YPTUJU888888" ] } ], "picture/model_95c030c1e2202d973a1c22c3d841be93_0": [ { "instruction": "Pick the picture from the bedroom near the cabinet and place it on the dishwasher in the kitchen, nearby the window.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_69be6007323299e07cb5462973c55690_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "window/model_d283f8715f0704189c5118f12fdd57e2_0", "category": "window", "room": "6/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. There is/are a cabinet located near the picture.)\". The target location is on a dishwasher, and nearby a window(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_03_6OAIY7RVAV6OSPTUKI888888" ] }, { "instruction": "Pick the picture from the bedroom near the cabinet and place it on the desk near the window and chair.", "condition": [ { "object_attribute": { "instance_id": "desk/model_87764a1a59bdc27e15d07db5183fd693_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "window/model_56251cbdecc941685b98eccaad1356ed_0", "category": "window", "room": null, "appearance": null, "relation": [ [ true, "near", "chair" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. There is/are a cabinet located near the picture.)\". The target location is on a desk, and nearby a window( There is/are a chair located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_03_6OAIY7RVAV6OSPTUKI888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAACY8_usd": { "picture/model_3603710c5de84f8da5a32a7904e0f9b3_0": [ { "instruction": "Pick the picture with abstract shapes in green, yellow, and pink colors on a light background from the bedroom and place it nearby the decoration and the light, which is above a chair in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_3eb33850fc536635c9852c1600e8bb31_0", "category": "decoration", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "light/model_9763835d1faabc4086306899154ebb68_0", "category": "light", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "below", "chair" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. The front view shows a picture with abstract shapes in green, yellow, and pink colors on a light background.)\". The target location is nearby a decoration(This object is in bedroom.), and nearby a light(This object is in bedroom. There is/are a chair located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_02_ZB4DM6ZVAJYCQPTULE888888" ] }, { "instruction": "Pick the rectangular picture from the bedroom and place it on the cabinet in the bedroom, near the pillow with a light above it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_b668071353886b18e67c94935cc9f8df_0", "category": "cabinet", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_46a9ab367839983e7cf70621bd98094c_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "above", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. The object is rectangular in shape.)\". The target location is on a cabinet(This object is in bedroom.), and nearby a pillow( There is/are a light located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_02_ZB4DM6ZVAJYCQPTULE888888" ] } ], "light/model_9763835d1faabc4086306899154ebb68_0": [ { "instruction": "Pick the light in the bedroom, which is near a lamp, a chair, and a decoration, and above a chair. Place it near the TV and the blanket in the bedroom, close to the TV stand.", "condition": [ { "object_attribute": { "instance_id": "tv/model_32f2473dfbda4a67abdb5cd1b4705237_0", "category": "tv", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_ab290bcbb212a64441a7619b40ca4be1_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom. There is/are a lamp located near the light. There is/are a chair located near the light. There is/are a decoration located near the light. There is/are a chair located below the light.)\". The target location is nearby a tv(This object is in bedroom. There is/are a tvstand located near the object.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6E656EUTDD52EEELLQ888888", "light/SM_02_6E656EUTDD52EEELLQ888888", "light/SM_04_6E656EUTDD52EEELLQ888888", "light/SM_08_6E656EUTDD52EEELLQ888888", "light/SM_10_6E656EUTDD52EEELLQ888888", "light/SM_16_6E656EUTDD52EEELLQ888888", "light/SM_17_6E656EUTDD52EEELLQ888888", "light/SM_18_6E656EUTDD52EEELLQ888888", "light/SM_20_6E656EUTDD52EEELLQ888888", "light/SM_21_6E656EUTDD52EEELLQ888888" ] } ], "toy/model_38c015769f020f8935e467cc09a6ffe3_0": [ { "instruction": "Pick the toy in the living room and place it near the blanket and pillow where there is a light.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_745fad0b31bdec7a0a0c5eaef8a25ade_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_fda03e702cebc9e62378f25a8c6d78c8_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy. This object is in living room.)\". The target location is nearby a blanket, and nearby a pillow( There is/are a light located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_01_6FI62O4TD5TGOPTUKI888888" ] }, { "instruction": "Pick the toy in the living room and place it on the cabinet near the door.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_935b5432368656a94f23dfa09e67ca8d_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_ac444f37540d9fb5e301c8914c1d8888_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy. This object is in living room.)\". The target location is on a cabinet, and nearby a cabinet( There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_01_6FI62O4TD5TGOPTUKI888888" ] } ], "picture/model_2ba46514c4150dc130bdaa90cf9e3f67_0": [ { "instruction": "Pick the picture in the balcony near the door and place it in the living room under the decoration.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_a7c843d4cbdb3ec480056ee5a6152c1f_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "under", "decoration" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_195991afe34ffa3110538e30064edb7f_0", "category": "decoration", "room": "10/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in balcony. There is/are a door located near the picture.)\". The target location is nearby a decoration( There is/are a decoration located under the object.), and nearby a decoration(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6HGJGWMTDD52CPTULM888888" ] }, { "instruction": "Pick the picture in the balcony near the door and place it in the living room near the light and the blanket.", "condition": [ { "object_attribute": { "instance_id": "light/model_4d8163d158a2a9056ae6504f796ca6a5_0", "category": "light", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_2ae691dcacb1eeb10d72bb200f697eb3_0", "category": "blanket", "room": "10/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in balcony. There is/are a door located near the picture.)\". The target location is nearby a light( There is/are a picture located near the object.), and nearby a blanket(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6HGJGWMTDD52CPTULM888888" ] } ], "light/model_a8a32b94c294805aaddd48f0bcfe9462_0": [ { "instruction": "Pick the light in the dining room and place it in the bedroom near a light and a pillow, with a blanket located below.", "condition": [ { "object_attribute": { "instance_id": "light/model_a43fe0fc66b8d93b90db77f837d92e92_0", "category": "light", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_c57d06b16b14675880e4bfd01e97911a_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "below", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a light(This object is in bedroom.), and nearby a pillow( There is/are a blanket located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_13_6MEBSUBVAVFYMPTUKU888888" ] }, { "instruction": "Pick the light in the dining room and place it near the pan with a small black knob on the lid.", "condition": [ { "object_attribute": { "instance_id": "pan/model_92f4382ce8403a478fa65ca4a13c4f7a_0", "category": "pan", "room": null, "appearance": [ "The lid has a small black knob on top for lifting." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pan/model_add5db5a14365a49cc76b67fc6a7cc93_0", "category": "pan", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a pan(The lid has a small black knob on top for lifting.), and nearby a pan.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_13_6MEBSUBVAVFYMPTUKU888888" ] } ], "bottle/model_cbb22458417f40df7a44ba2af5e1904f_0": [ { "instruction": "Pick the bottle from the bedroom and place it on the stool in the living room, nearby the couch.", "condition": [ { "object_attribute": { "instance_id": "stool/model_30cb9b683ff08f53e0b1d0fc65df1ba0_0", "category": "stool", "room": "10/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "couch/model_676b88959789c12273e483c196b28191_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is on a stool(This object is in living room.), and nearby a couch.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZEWBXIBVAJRIKPTUKY888888" ] }, { "instruction": "Pick the bottle from the bedroom and place it on the cabinet in the kitchen, near the dishwasher and the hearth.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_935b5432368656a94f23dfa09e67ca8d_0", "category": "cabinet", "room": "0/kitchen", "appearance": null, "relation": [ [ true, "near", "dishwasher" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "hearth/model_686d048995e7225b0cfe15333667651c_0", "category": "hearth", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is on a cabinet(This object is in kitchen. There is/are a dishwasher located near the object.), and nearby a hearth.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZEWBXIBVAJRIKPTUKY888888" ] } ], "pot/model_0d63fa6fde7dcd50bc7b58e47bf34008_0": [ { "instruction": "Pick the pot from the living room and place it nearby the picture and the shoe.", "condition": [ { "object_attribute": { "instance_id": "picture/model_f943545125c4915786a591f9a637d897_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_22222f8b11686756d0ec1c9b7547f819_0", "category": "shoe", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is nearby a picture, and nearby a shoe.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWDTZVAI3YYPTUKE888888" ] }, { "instruction": "Pick the pot from the living room and place it nearby the lamp and pillow, ensuring it is above the blanket.", "condition": [ { "object_attribute": { "instance_id": "lamp/model_b265a1ae4039326b285090cb93eb27ca_0", "category": "lamp", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_c57d06b16b14675880e4bfd01e97911a_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "below", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is nearby a lamp, and nearby a pillow( There is/are a blanket located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWDTZVAI3YYPTUKE888888" ] } ], "clock/model_65d3fef413fc77f32f0ba71c1b56bc40_0": [ { "instruction": "Pick the clock and place it on the dishwasher, nearby the microwave.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_7f6a637b5a077da92f5add8fbf82afd0_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "microwave/model_5555600ab67829fbe3b6c99a6a0da12d_0", "category": "microwave", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is clock(This object is a clock.)\". The target location is on a dishwasher, and nearby a microwave.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "clock/SM_01_Z2YBLWJVAJTS4PTUK4888888" ] }, { "instruction": "Pick the clock and place it nearby the mirror and faucet in the corridor.", "condition": [ { "object_attribute": { "instance_id": "mirror/model_f220971e9982cdd80f948a4068e76e7d_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "faucet/model_2b67955c1100730b455c0b290b8c263a_0", "category": "faucet", "room": "4/corridor", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is clock(This object is a clock.)\". The target location is nearby a mirror, and nearby a faucet(This object is in corridor.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "clock/SM_01_Z2YBLWJVAJTS4PTUK4888888" ] } ], "pillow/model_38bd4bf8da2694150c10bcc019e11316_0": [ { "instruction": "Pick the pillow, which is near a lamp, below a light, and above a blanket, and place it on the cabinet in the corridor, near the mirror.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_ed5128d5c98aa777364827e02ec4c2ae_0", "category": "cabinet", "room": "4/corridor", "appearance": null, "relation": [ [ true, "near", "mirror" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_f220971e9982cdd80f948a4068e76e7d_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a lamp located near the pillow. There is/are a light located above the pillow. There is/are a blanket located below the pillow.)\". The target location is on a cabinet(This object is in corridor. There is/are a mirror located near the object.), and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_05_ZBJPK2RVAJJW6PTUJU888888", "pillow/SM_06_ZBJPK2RVAJJW6PTUJU888888", "pillow/SM_09_ZBJPK2RVAJJW6PTUJU888888" ] }, { "instruction": "Pick the pillow, which is near a lamp, below a light, and above a blanket, and place it on the stool in the bedroom, which is nearby a curtain.", "condition": [ { "object_attribute": { "instance_id": "stool/model_13a55c4a4f67772b4d9187318d40efcf_0", "category": "stool", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_e1c9ab28f8d8e8d0d24776b9620ad5f5_0", "category": "curtain", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a lamp located near the pillow. There is/are a light located above the pillow. There is/are a blanket located below the pillow.)\". The target location is on a stool(This object is in bedroom.), and nearby a curtain(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_05_ZBJPK2RVAJJW6PTUJU888888", "pillow/SM_06_ZBJPK2RVAJJW6PTUJU888888", "pillow/SM_09_ZBJPK2RVAJJW6PTUJU888888" ] } ], "light/model_382a2d420c073cb533667587be540637_0": [ { "instruction": "Pick the light in the study room and place it on the cabinet in the bedroom near the light.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_f1fdbebd3474a28e1ada74747e7e9dc3_0", "category": "cabinet", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "light/model_61ff56128c895469a8e4de03003d32e1_0", "category": "light", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in study room.)\". The target location is on a cabinet(This object is in bedroom.), and nearby a light( There is/are a light located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_12_6MH2UDRVAJTM6PTUKA888888" ] }, { "instruction": "Pick the light from the study room and place it on the dishwasher in the kitchen, near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_7f6a637b5a077da92f5add8fbf82afd0_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_935b5432368656a94f23dfa09e67ca8d_0", "category": "cabinet", "room": "0/kitchen", "appearance": null, "relation": [ [ true, "near", "dishwasher" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in study room.)\". The target location is on a dishwasher, and nearby a cabinet(This object is in kitchen. There is/are a dishwasher located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_12_6MH2UDRVAJTM6PTUKA888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAABA8_usd": { "plate/model_6c6971aedc919662dfe3f3869e4ec7d3_0": [ { "instruction": "Pick the plate and place it on the dishwasher, which is nearby the refrigerator.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_264b9f7bfbe7ed5a3eb72ef69a79c514_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "refrigerator/model_a8319465e589d8abe840f34481bef8f8_0", "category": "refrigerator", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate.)\". The target location is on a dishwasher, and nearby a refrigerator.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_Z5L5TZBVAJ3X6PTUK4888888" ] }, { "instruction": "Pick the plate and place it on the dishwasher, nearby a plant.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_264b9f7bfbe7ed5a3eb72ef69a79c514_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plant/model_3c7e4ed78b303e92cf78a603ee691316_0", "category": "plant", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate.)\". The target location is on a dishwasher, and nearby a plant.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_Z5L5TZBVAJ3X6PTUK4888888" ] } ], "pan/model_ff02ae784061480edfe0ba1c55df49f2_0": [ { "instruction": "Pick the pan and place it near the pen, ensuring it is above the decoration.", "condition": [ { "object_attribute": { "instance_id": "pen/model_4640d4bae724cb7379fea10dca49d0c5_0", "category": "pen", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_61fbd1385db6779be5f28c9607d4899d_0", "category": "pen", "room": null, "appearance": null, "relation": [ [ true, "below", "decoration" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is nearby a pen, and nearby a pen( There is/are a decoration located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWPMBVAJJTWPTUKA888888" ] }, { "instruction": "Pick up the pan in the kitchen, which is near a bottle, and place it on the dishwasher, near the plant.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_264b9f7bfbe7ed5a3eb72ef69a79c514_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plant/model_d70b8f09fe7f5245ee071b6e61ddd165_0", "category": "plant", "room": "2/kitchen", "appearance": null, "relation": [ [ true, "near", "bottle" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a dishwasher, and nearby a plant(This object is in kitchen. There is/are a bottle located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWPMBVAJJTWPTUKA888888" ] } ], "light/model_c23ec6fbdacf99fbffff0052789797b9_0": [ { "instruction": "Pick the light in the living room and place it near the pen, above the decoration.", "condition": [ { "object_attribute": { "instance_id": "pen/model_1ae42f2086921d844798a6a0f3ffa6d9_0", "category": "pen", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_ec20d4941d36e5fb1eaf05eb45f2185b_0", "category": "pen", "room": null, "appearance": null, "relation": [ [ true, "below", "decoration" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in living room.)\". The target location is nearby a pen, and nearby a pen( There is/are a decoration located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6K3THJZVAVR2IPTULE888888" ] }, { "instruction": "Pick the light in the living room and place it nearby a soft pillow with a blanket below.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_e86b7013e386d6a72d42c9e40f1bd0c9_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_94c31702b0a6652060182868881c5962_0", "category": "pillow", "room": null, "appearance": [ "The pillow appears to be soft." ], "relation": [ [ true, "below", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in living room.)\". The target location is nearby a pillow, and nearby a pillow( There is/are a blanket located below the object.The pillow appears to be soft.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6K3THJZVAVR2IPTULE888888" ] } ], "bottle/model_d6f72ae683220205fca7c64dd8aa4809_0": [ { "instruction": "Pick the bottle from the kitchen and place it on the tvstand in the bedroom, near the trashcan.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_b54dfcc8de8658d881c41766848bf222_0", "category": "tvstand", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "trashcan/model_ef59364dac9bd71dc1f5db139b10828a_0", "category": "trashcan", "room": "4/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in kitchen.)\". The target location is on a tvstand, and nearby a trashcan(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_SIV36UWO7DXBU34BLU888888" ] }, { "instruction": "Pick the bottle from the kitchen and place it near the pillow, above the blanket, and near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_230598229d045005df7ff9285511c379_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "below", "blanket" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_23a0a05e0bc56eb8c694d3d648b4d59a_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in kitchen.)\". The target location is nearby a pillow( There is/are a blanket located below the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_SIV36UWO7DXBU34BLU888888" ] } ], "pillow/model_a47a83a8d062b5d9c56ed64fb2421e11_0": [ { "instruction": "Pick the pillow, which has a blanket with a checkered pattern below it, and place it nearby the pan and the cabinet in the kitchen, which has a microwave inside.", "condition": [ { "object_attribute": { "instance_id": "pan/model_ff02ae784061480edfe0ba1c55df49f2_0", "category": "pan", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_8b3fa8104de4528cc430636da84af4d6_0", "category": "cabinet", "room": "2/kitchen", "appearance": null, "relation": [ [ true, "in", "microwave" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a blanket located below the pillow. It has a checkered pattern with alternating dark and light squares.)\". The target location is nearby a pan, and nearby a cabinet(This object is in kitchen. There is/are a microwave located in the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_6IUGDTJVAZS76PTULU888888", "pillow/SM_04_6IUGDTJVAZS76PTULU888888", "pillow/SM_05_6IUGDTJVAZS76PTULU888888" ] }, { "instruction": "Pick the pillow, which is on top of a checkered blanket with alternating dark and light squares, and place it on the cabinet in the corridor near the white door.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_29b72b0d5240658aead8790477ef6e22_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "door/model_5bcba605d6b85b53f32ea5cebc5e5dfe_0", "category": "door", "room": "7/corridor", "appearance": [ "It is white in color." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a blanket located below the pillow. It has a checkered pattern with alternating dark and light squares.)\". The target location is on a cabinet, and nearby a door(This object is in corridor.It is white in color.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_6IUGDTJVAZS76PTULU888888", "pillow/SM_04_6IUGDTJVAZS76PTULU888888", "pillow/SM_05_6IUGDTJVAZS76PTULU888888" ] } ], "bottle/model_d219c9f70686d52a3a990fb579c19a5e_0": [ { "instruction": "Pick the bottle in the living room and place it on the chair in the dining room, nearby a plate.", "condition": [ { "object_attribute": { "instance_id": "chair/model_61df4e6e31b78d1a86bc0d665e85e435_0", "category": "chair", "room": "1/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plate/model_6c6971aedc919662dfe3f3869e4ec7d3_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room.)\". The target location is on a chair(This object is in dinning room.), and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZQONWPBVAJT2YPTULQ888888" ] }, { "instruction": "Pick the bottle from the living room and place it near the decoration and the TV.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_c0a28b0b1d5fde98818faadaf2119b71_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "tv/model_dd555565f1b7859cd34ff279164ba81b_0", "category": "tv", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room.)\". The target location is nearby a decoration, and nearby a tv.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZQONWPBVAJT2YPTULQ888888" ] } ], "light/model_f34a44778ac4d62603a52e584be98be9_0": [ { "instruction": "Pick the light in the corridor and place it on the TV stand in the bedroom, near the blanket.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_b54dfcc8de8658d881c41766848bf222_0", "category": "tvstand", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_ab4bbdc1967485d2718c1419afc45fde_0", "category": "blanket", "room": "4/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in corridor.)\". The target location is on a tvstand, and nearby a blanket(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6LK35MZVAURNMPTUKM888888" ] }, { "instruction": "Pick the light in the corridor and place it on the chair near the pen. There is a decoration below the object.", "condition": [ { "object_attribute": { "instance_id": "chair/model_17afae561f9f0249e5fca6e89afd04a8_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pen/model_ab03186a55a163bb0983cfb8c1693897_0", "category": "pen", "room": null, "appearance": null, "relation": [ [ true, "below", "decoration" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in corridor.)\". The target location is on a chair, and nearby a pen( There is/are a decoration located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6LK35MZVAURNMPTUKM888888" ] } ], "pen/model_f701b97d097a79ef9cde2240a552ced2_0": [ { "instruction": "Pick the pen from the cabinet, which is above a decoration, and place it on the bed in the bedroom, near another decoration.", "condition": [ { "object_attribute": { "instance_id": "bed/model_a293af536df926efd351944a5dc258d6_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_c163a2185bebf5403d3dc6f989f09288_0", "category": "decoration", "room": "3/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. There is/are a cabinet located contain/hold the pen. There is/are a decoration located below the pen.)\". The target location is on a bed, and nearby a decoration(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_01_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_02_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_03_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_04_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_05_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_06_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_07_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_08_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_09_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_10_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_11_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_12_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_13_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_14_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_15_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_16_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_17_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_18_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_19_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_20_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_21_ZEOVOABVAI3Y2PTUKA888888" ] }, { "instruction": "Pick the pen from the cabinet, which is above the decoration, and place it near the plant by the window and the chair in the living room.", "condition": [ { "object_attribute": { "instance_id": "plant/model_51d418af86481b2d37162fd8faa7b302_0", "category": "plant", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_280efea67b7dfec2f834aaf64d29df20_0", "category": "chair", "room": "0/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. There is/are a cabinet located contain/hold the pen. There is/are a decoration located below the pen.)\". The target location is nearby a plant( There is/are a window located near the object.), and nearby a chair(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_01_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_02_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_03_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_04_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_05_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_06_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_07_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_08_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_09_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_10_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_11_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_12_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_13_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_14_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_15_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_16_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_17_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_18_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_19_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_20_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_21_ZEOVOABVAI3Y2PTUKA888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAACA8_usd": { "pot/model_12197fb6f16d4f25220dde2e1e61f643_0": [ { "instruction": "Pick the pot and place it on the cabinet in the balcony, nearby a towel.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_4ebaa2e96d5cb9ce97a4e89f4c4b39d7_0", "category": "cabinet", "room": "9/balcony", "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "towel/model_27217616e8b657e2d26bec297c9d88b2_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a cabinet(This object is in balcony.nothing is below the object.), and nearby a towel.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWH2ZVAJ33YPTUJU888888" ] }, { "instruction": "Pick the pot and place it nearby a box and nearby a shoe with a decoration above it.", "condition": [ { "object_attribute": { "instance_id": "box/model_e8d0835c3ec49a501dccfd2ff633da5b_0", "category": "box", "room": null, "appearance": null, "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_16e14fc5b2f02e3e79598d9fa596570b_0", "category": "shoe", "room": null, "appearance": null, "relation": [ [ true, "above", "decoration" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a box(nothing is on the object.), and nearby a shoe( There is/are a decoration located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWH2ZVAJ33YPTUJU888888" ] } ], "pan/model_700b4bba7d106c5d84a95b3b4f615547_0": [ { "instruction": "Pick the pan located near the window and place it on the cabinet in the balcony, nearby the faucet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_4ebaa2e96d5cb9ce97a4e89f4c4b39d7_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "faucet/model_e935ee74be2826fd46ca3d57969c03cd_0", "category": "faucet", "room": "9/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan. There is/are a window located near the pan.)\". The target location is on a cabinet, and nearby a faucet(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWCWJVAJ3UAPTUJU888888", "pan/SM_02_ZEMWPMBVAJSQIPTULM888888" ] }, { "instruction": "Pick the pan located near the window and place it nearby the clothes located above the object.", "condition": [ { "object_attribute": { "instance_id": "clothes/model_33ccb48be7390e6006dafa06e3dbe6ba_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "clothes/model_ab72fcec03037aee97ea735f559ded53_0", "category": "clothes", "room": null, "appearance": null, "relation": [ [ true, "above", "clothes" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan. There is/are a window located near the pan.)\". The target location is nearby a clothes, and nearby a clothes( There is/are a clothes located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWCWJVAJ3UAPTUJU888888", "pan/SM_02_ZEMWPMBVAJSQIPTULM888888" ] } ], "light/model_16474df3673c85c2e0c8273501e652c5_0": [ { "instruction": "Pick the light from the dining room and place it near the clothes.", "condition": [ { "object_attribute": { "instance_id": "clothes/model_c96902450a3d75943e882fb28913e2c9_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "clothes/model_33ccb48be7390e6006dafa06e3dbe6ba_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a clothes, and nearby a clothes.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_04_ZYLN2WRVAIPTGPTULE888888" ] }, { "instruction": "Pick the light from the dining room and place it in the balcony, nearby the washing machine and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "washingmachine/model_46b3fd08bbaa3798ba0d95b08ad367ea_0", "category": "washingmachine", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_4ebaa2e96d5cb9ce97a4e89f4c4b39d7_0", "category": "cabinet", "room": "9/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a washingmachine, and nearby a cabinet(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_04_ZYLN2WRVAIPTGPTULE888888" ] } ], "pillow/model_5c925e451cfe2fc1f0eb0cd82490f9d5_0": [ { "instruction": "Pick up the pillow near the chair, cabinet, and light, and place it near the clothes above the target location.", "condition": [ { "object_attribute": { "instance_id": "clothes/model_60d24f71b392c1cc88b16e6c530d54c0_0", "category": "clothes", "room": null, "appearance": null, "relation": [ [ true, "above", "clothes" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "clothes/model_33ccb48be7390e6006dafa06e3dbe6ba_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow. There is/are a cabinet located near the pillow. There is/are a light located near the pillow.)\". The target location is nearby a clothes( There is/are a clothes located above the object.), and nearby a clothes.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_13_ZTEUTPZVAVQXCPTULI888888", "pillow/SM_15_ZTEUTPZVAVQXCPTULI888888", "pillow/SM_18_ZUSX5HJVAXR4YPTULA888888", "pillow/SM_19_ZUSX5HJVAXR4YPTULA888888" ] }, { "instruction": "Pick the pillow near the chair, cabinet, and light, and place it on the bed near the chair and plant, which is next to the cabinet.", "condition": [ { "object_attribute": { "instance_id": "bed/model_b781342de8d14b6c8505fd18cab4b19b_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "chair" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plant/model_b062d7654ce367989885ebc6300bcd95_0", "category": "plant", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow. There is/are a cabinet located near the pillow. There is/are a light located near the pillow.)\". The target location is on a bed( There is/are a chair located near the object.), and nearby a plant( There is/are a cabinet located contain/hold the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_13_ZTEUTPZVAVQXCPTULI888888", "pillow/SM_15_ZTEUTPZVAVQXCPTULI888888", "pillow/SM_18_ZUSX5HJVAXR4YPTULA888888", "pillow/SM_19_ZUSX5HJVAXR4YPTULA888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAADI8_usd": { "bottle/model_d4a386fe2d9618c2551eb97bb4ffd04d_0": [ { "instruction": "Pick the bottle from the kitchen and place it near the trashcan and the pillow in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_ad1fa8c638090a2809d0c2f8acd1f562_0", "category": "trashcan", "room": "4/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_bc59199379f03bc89dd45a88b4b65920_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in kitchen.)\". The target location is nearby a trashcan(This object is in bedroom.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_SIV36UWO7DXBU34BLU888888" ] }, { "instruction": "Pick the bottle from the kitchen and place it on the table near the pot.", "condition": [ { "object_attribute": { "instance_id": "table/model_de6fe2a66c09a5d19af4dc0d1f5f0e06_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pot/model_470af759a7acbaf3d5d7538cf30b9f3f_0", "category": "pot", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in kitchen.)\". The target location is on a table, and nearby a pot.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_SIV36UWO7DXBU34BLU888888" ] } ], "bottle/model_04194c8895e27440af7cfb84ed0110aa_0": [ { "instruction": "Pick the bottle from the dining room cabinet, which is near a book and above a decoration, and place it nearby a decoration and a blanket.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_44149b70057183e8b998ffcf463f4696_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_d4b7a23e50e1ce50caa854fafa845e37_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in dinning room. There is/are a book located near the bottle. There is/are a decoration located below the bottle. There is/are a cabinet located contain/hold the bottle.)\". The target location is nearby a decoration, and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_05_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_06_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_07_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_08_ZRGWZ4RVAXSFKPTUKM888888" ] }, { "instruction": "Pick the bottle from the dining room. It is near a book, above a decoration, and inside a cabinet. Place it nearby a plant and a blanket.", "condition": [ { "object_attribute": { "instance_id": "plant/model_b9386d24d1d829a6b0ce48763753ed59_0", "category": "plant", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_e2c1ad5213e641447cd48ea9a10f9b18_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in dinning room. There is/are a book located near the bottle. There is/are a decoration located below the bottle. There is/are a cabinet located contain/hold the bottle.)\". The target location is nearby a plant, and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_05_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_06_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_07_ZRGWZ4RVAXSFKPTUKM888888", "bottle/SM_08_ZRGWZ4RVAXSFKPTUKM888888" ] } ], "light/model_f334ba7501a82c080e6d20c8fe96b77a_0": [ { "instruction": "Pick the light from the dining room and place it nearby the plant and the curtain.", "condition": [ { "object_attribute": { "instance_id": "plant/model_dcd4400587f6e4c56c2dc8fcfcb8e977_0", "category": "plant", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_8466d166916cddd47b78b4cadd684668_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a plant, and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6JJBSHRVAVWCWPTUK4888888" ] }, { "instruction": "Pick the light in the dining room and place it near the bottle and pillow in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_e9a63bc1f9a946fa24b2c20e58c6bb1e_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "bottle" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_f34d7501eb149275433730a45bf5071e_0", "category": "pillow", "room": "2/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a pillow( There is/are a bottle located near the object.), and nearby a pillow(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6JJBSHRVAVWCWPTUK4888888" ] } ], "pillow/model_e9a63bc1f9a946fa24b2c20e58c6bb1e_0": [ { "instruction": "Pick the pillow from the bedroom, which is near a bottle, and place it near the pen with a black clip attached to the top part and the light brown or beige pen.", "condition": [ { "object_attribute": { "instance_id": "pen/model_1c07a39ff05c6424a4d368a59a3497b1_0", "category": "pen", "room": null, "appearance": [ "The pen has a black clip attached to the top part." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_b8da855c8785c78df4c91ab1e32605cc_0", "category": "pen", "room": null, "appearance": [ "The pen is light brown or beige." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a bottle located near the pillow.)\". The target location is nearby a pen(The pen has a black clip attached to the top part.), and nearby a pen(The pen is light brown or beige.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_05_ZSNWLVRVAUTPQPTUKY888888", "pillow/SM_06_ZSNWLVRVAUTPQPTUKY888888", "pillow/SM_09_ZSNWLVRVAUTPQPTUKY888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a bottle, and place it on the table near the bed.", "condition": [ { "object_attribute": { "instance_id": "table/model_a53f675cc8a4967c1556352a4e7499ba_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_6d5459ca02c0da5744820d1a6b085ae0_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a bottle located near the pillow.)\". The target location is on a table, and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_05_ZSNWLVRVAUTPQPTUKY888888", "pillow/SM_06_ZSNWLVRVAUTPQPTUKY888888", "pillow/SM_09_ZSNWLVRVAUTPQPTUKY888888" ] } ], "pot/model_470af759a7acbaf3d5d7538cf30b9f3f_0": [ { "instruction": "Pick the pot and place it nearby a blanket in the bedroom and nearby a pen with a rectangular shape and rounded edges.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_5362975541ec5031e8ba761b62b75195_0", "category": "blanket", "room": "4/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_46fb2010453dca0541b1fbcb4045e66c_0", "category": "pen", "room": null, "appearance": [ "The pen has a rectangular shape with rounded edges." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a blanket(This object is in bedroom.), and nearby a pen(The pen has a rectangular shape with rounded edges.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWMFZVAIMJCPTULE888888" ] }, { "instruction": "Pick the pot and place it on the table in the dining room, nearby the trashcan in the dining room.", "condition": [ { "object_attribute": { "instance_id": "table/model_071e714dd80dacd002fe5f647ddbb1cf_0", "category": "table", "room": "7/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "trashcan/model_c31d176565d55ed6dfc0e9b1cb346246_0", "category": "trashcan", "room": "7/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a table(This object is in dinning room.), and nearby a trashcan(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWMFZVAIMJCPTULE888888" ] } ], "bottle/model_c0e88e3e4545b01e2618658e40e23de8_0": [ { "instruction": "Pick the bottle in the bedroom and place it near the faucet and the washing machine.", "condition": [ { "object_attribute": { "instance_id": "faucet/model_30737c8092270b6da00ff63b8b7c6c57_0", "category": "faucet", "room": null, "appearance": null, "relation": [ [ true, "near", "washingmachine" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "washingmachine/model_9c164d483a4c36f02ee58ee2f4912cd7_0", "category": "washingmachine", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is nearby a faucet( There is/are a washingmachine located near the object.), and nearby a washingmachine.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_17_ZSO2UAZVAUPE4PTULQ888888" ] }, { "instruction": "Pick the bottle in the bedroom and place it near the shelf with clothes under it or near the door in the dining room with a bottle nearby.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_1c0159b47303ed8b78e76eee56bb1448_0", "category": "shelf", "room": null, "appearance": null, "relation": [ [ true, "under", "clothes" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_7b46af01a13e3ca1723c1574556af337_0", "category": "door", "room": "7/dinning room", "appearance": null, "relation": [ [ true, "near", "bottle" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is nearby a shelf( There is/are a clothes located under the object.), and nearby a door(This object is in dinning room. There is/are a bottle located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_17_ZSO2UAZVAUPE4PTULQ888888" ] } ], "pen/model_46fb2010453dca0541b1fbcb4045e66c_0": [ { "instruction": "Pick the pen with a black rectangular section on its body and place it on the bed near the window and the other pen with flat, unmarked ends.", "condition": [ { "object_attribute": { "instance_id": "bed/model_6d5459ca02c0da5744820d1a6b085ae0_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pen/model_d4b021ac0b4acb687bc9caa1785ba918_0", "category": "pen", "room": null, "appearance": [ "Both ends of the pen are flat and unmarked." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. There is a black rectangular section on the body of the pen.)\". The target location is on a bed( There is/are a window located near the object.), and nearby a pen(Both ends of the pen are flat and unmarked.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_02_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_03_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_04_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_05_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_06_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_07_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_08_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_09_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_10_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_11_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_12_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_13_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_14_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_15_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_16_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_17_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_18_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_19_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_20_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_21_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_22_ZEWGVJBVAJRIKPTULI888888" ] }, { "instruction": "Pick the pen with the black rectangular section on its body and place it on the table in the living room, nearby the blanket.", "condition": [ { "object_attribute": { "instance_id": "table/model_de6fe2a66c09a5d19af4dc0d1f5f0e06_0", "category": "table", "room": "0/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_d4b7a23e50e1ce50caa854fafa845e37_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. There is a black rectangular section on the body of the pen.)\". The target location is on a table(This object is in living room.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_02_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_03_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_04_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_05_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_06_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_07_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_08_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_09_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_10_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_11_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_12_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_13_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_14_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_15_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_16_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_17_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_18_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_19_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_20_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_21_ZEOVOABVAI3Y2PTUKA888888", "pen/SM_22_ZEWGVJBVAJRIKPTULI888888" ] } ], "cup/model_7e3d114281b5a91daab940efe38dbdc2_0": [ { "instruction": "Pick the cup located below the cabinet and place it on the table in the bedroom, near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "table/model_a53f675cc8a4967c1556352a4e7499ba_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_e3227b69e963d8524b2ca42162c53b22_0", "category": "cabinet", "room": "4/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a cabinet located above the cup. nothing is below the cup.)\". The target location is on a table, and nearby a cabinet(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_04_ZRGWZ4RVAXSFKPTUKM888888", "cup/SM_05_ZRGWZ4RVAXSFKPTUKM888888" ] }, { "instruction": "Pick up the cup from below the cabinet and place it near the pen with a clip on its cap and the pen with a bottom end.", "condition": [ { "object_attribute": { "instance_id": "pen/model_87805e3679cc3d378065d59e9490cb72_0", "category": "pen", "room": null, "appearance": [ "The cap has a clip." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_7dfa7f21877431aedb97006ad56c0c59_0", "category": "pen", "room": null, "appearance": [ "The pen has a bottom end." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a cabinet located above the cup. nothing is below the cup.)\". The target location is nearby a pen(The cap has a clip.), and nearby a pen(The pen has a bottom end.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_04_ZRGWZ4RVAXSFKPTUKM888888", "cup/SM_05_ZRGWZ4RVAXSFKPTUKM888888" ] } ], "pillow/model_bc75cb3141349e2bf1fb35533deb7dd3_0": [ { "instruction": "Pick the pillow from the study room and place it on the shelf near the mirror.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_efc62f1d47974f7e94e3e171a5f67cdc_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_fe3afa0c0a3d7fce34ff7c74764d07c8_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in study room.)\". The target location is on a shelf, and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6HI3M7MTDD522PTUKU888888", "pillow/SM_01_6HI3M7MTDD522PTUKU888888" ] }, { "instruction": "Pick the pillow from the study room and place it on the shelf in the bathroom, nearby the mirror.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_efc62f1d47974f7e94e3e171a5f67cdc_0", "category": "shelf", "room": "3/bathroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_fe3afa0c0a3d7fce34ff7c74764d07c8_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in study room.)\". The target location is on a shelf(This object is in bathroom.), and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6HI3M7MTDD522PTUKU888888", "pillow/SM_01_6HI3M7MTDD522PTUKU888888" ] } ], "pillow/model_c9d59f5f2f1c04fc696387ff386cf6b3_0": [ { "instruction": "Pick the pillow from the bedroom, which is near a window and a chair, and place it in the bathroom near the cabinet and the door.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_fd760428c04288f0dfef76714732fafa_0", "category": "cabinet", "room": "3/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_1c5b4263820d3264c31c028df1becc3f_0", "category": "door", "room": "3/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a window located near the pillow. There is/are a chair located near the pillow.)\". The target location is nearby a cabinet(This object is in bathroom.), and nearby a door(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_02_ZRH5KFRVAJRAGPTULI888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a window and a chair, and place it on the cabinet near a window and a yellow pen.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_c7598df4b0e0b9a045f5f63b40d4fbbc_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pen/model_a9032c6561e4d72f32b7cacc5eb1ba20_0", "category": "pen", "room": null, "appearance": [ "The pen is primarily yellow in color." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a window located near the pillow. There is/are a chair located near the pillow.)\". The target location is on a cabinet( There is/are a window located near the object.), and nearby a pen(The pen is primarily yellow in color.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_02_ZRH5KFRVAJRAGPTULI888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAAEA8_usd": { "pillow/model_4e36508f5e460278ae072eda0e1d5e3e_0": [ { "instruction": "Pick the pillow from the living room near the couch and place it in the kitchen near the cabinet and the window.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_16f2a82b40ef155ab09d8d54c317453e_0", "category": "cabinet", "room": "7/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_583581a9a45c4138da23d1f2403fc2d2_0", "category": "window", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. There is/are a couch located near the pillow.)\". The target location is nearby a cabinet(This object is in kitchen.), and nearby a window.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_12_6IPI5GJVAZUYWPTUKQ888888" ] }, { "instruction": "Pick the pillow from the living room near the couch and place it on the chair in the bedroom near the cabinet and table.", "condition": [ { "object_attribute": { "instance_id": "chair/model_b1879372a7bd03265a0aa4af43799357_0", "category": "chair", "room": "2/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "table/model_9316f6ca1a8fee0d43a7bb3aed41f7ed_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. There is/are a couch located near the pillow.)\". The target location is on a chair(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a table.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_12_6IPI5GJVAZUYWPTUKQ888888" ] } ], "bottle/model_e5a0bb8df520835a3ff940ce7cc06f55_0": [ { "instruction": "Pick the bottle from the dining room and place it in the balcony near the curtain and the plant, where there is a chair nearby.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_aae7f136252c72a90b252914950ca032_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_3be6f1926d92913f8a9a7d29ebd53ccf_0", "category": "plant", "room": "5/balcony", "appearance": null, "relation": [ [ true, "near", "chair" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in dinning room.)\". The target location is nearby a curtain, and nearby a plant(This object is in balcony. There is/are a chair located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6BENC4MTD5TGCJFZKU888888" ] }, { "instruction": "Pick the bottle from the dining room and place it near the cabinet and the mirror.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_899a300c254a8eee31871f334c8df5c0_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "mirror/model_30b0c08e49e0d781d62768a71af06e4e_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in dinning room.)\". The target location is nearby a cabinet, and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6BENC4MTD5TGCJFZKU888888" ] } ], "backpack/model_7e66385cf06355dd76b9340ec9bdfaee_0": [ { "instruction": "Pick the backpack near the cabinet and place it near the couch by the picture.", "condition": [ { "object_attribute": { "instance_id": "couch/model_0b87de6032819310a5053713b363701a_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "couch/model_d4c1eab8065ee5dc62aa284761b76ab8_0", "category": "couch", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack. There is/are a cabinet located near the backpack.)\". The target location is nearby a couch, and nearby a couch( There is/are a picture located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6IRK6NRVAZWNAPTULA888888" ] }, { "instruction": "Pick the backpack from the cabinet and place it near the shelf and the blanket.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_b0535cbe4212d1f8dfcadd0a2f854615_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_935b1daa554e0a6daf71a6dff87ace96_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack. There is/are a cabinet located near the backpack.)\". The target location is nearby a shelf, and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6IRK6NRVAZWNAPTULA888888" ] } ], "picture/model_8aa424e9569013f1c8c4f65d34a5d282_0": [ { "instruction": "Pick the picture in the bedroom near the blanket and place it near the curtain and the table.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_7b43805dc2dfab2bccf256ae27d7d6a0_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_dac3bc9d8b9e51d26925034571918ba2_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. There is/are a blanket located near the picture.)\". The target location is nearby a curtain, and nearby a table.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_06_6FT5I5MTD5TGAPTULM888888" ] }, { "instruction": "Pick the picture from the bedroom, located near the blanket, and place it in the bathroom near the mirror, which is above the sink and has a front surface divided into three vertical sections, and also near the predominantly gray faucet with yellow accents.", "condition": [ { "object_attribute": { "instance_id": "mirror/model_ad51a8b37f4ecefcf7513fe22bfb776b_0", "category": "mirror", "room": "0/bathroom", "appearance": [ "The front surface is divided into three vertical sections." ], "relation": [ [ true, "below", "sink" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "faucet/model_13d96fea497b16ee6db1ebc6e2002a0a_0", "category": "faucet", "room": "0/bathroom", "appearance": [ "The faucet is predominantly gray with yellow accents." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. There is/are a blanket located near the picture.)\". The target location is nearby a mirror(This object is in bathroom. There is/are a sink located below the object.The front surface is divided into three vertical sections.), and nearby a faucet(This object is in bathroom.The faucet is predominantly gray with yellow accents.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_06_6FT5I5MTD5TGAPTULM888888" ] } ], "pillow/model_d6fd9667d621327e54290c768d973bc7_0": [ { "instruction": "Pick the pillow from the bedroom, which is near a cabinet and a table, and place it nearby the picture in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "picture/model_8ca3695854d3b0a3c3ba2ee7cb59580f_0", "category": "picture", "room": "3/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "picture/model_ae14eefceba2b1c528316423f8dcae0a_0", "category": "picture", "room": "3/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a table located near the pillow.)\". The target location is nearby a picture(This object is in bedroom.), and nearby a picture(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_24_ZF27HZRVAIUDYPTUKA888888", "pillow/SM_25_ZF27HZRVAIUDYPTUKA888888", "pillow/SM_28_ZF27HZRVAIUDYPTUKA888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a cabinet and a table, and place it on the table in the bedroom, which is near a curtain and another table.", "condition": [ { "object_attribute": { "instance_id": "table/model_9d310e00460286c7b248eefff1fefb73_0", "category": "table", "room": "3/bedroom", "appearance": null, "relation": [ [ true, "near", "curtain" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_4f8f080762b52808278edaca345639e4_0", "category": "pillow", "room": "3/bedroom", "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a table located near the pillow.)\". The target location is on a table(This object is in bedroom. There is/are a curtain located near the object.), and nearby a pillow(This object is in bedroom. There is/are a table located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_24_ZF27HZRVAIUDYPTUKA888888", "pillow/SM_25_ZF27HZRVAIUDYPTUKA888888", "pillow/SM_28_ZF27HZRVAIUDYPTUKA888888" ] } ], "picture/model_8ca3695854d3b0a3c3ba2ee7cb59580f_0": [ { "instruction": "Pick the picture from the bedroom, which is near a decoration and a bottle, and place it on or nearby the chair.", "condition": [ { "object_attribute": { "instance_id": "chair/model_75d9abdb2a1491d6eb41a01a228867b8_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_4aa799c9f97596e9e3457daa7dd106a4_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. There is/are a decoration located near the picture. There is/are a bottle located near the picture.)\". The target location is on a chair, and nearby a chair.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_06_6KB2WFJVAZWMAPTULQ888888" ] }, { "instruction": "Pick the picture in the bedroom, located near a decoration and a bottle, and place it on the counter in the bathroom, near the toilet and the faucet with a rectangular base and slightly curved front.", "condition": [ { "object_attribute": { "instance_id": "counter/model_756c4ef6fa2a01f4b4b5d2a0b2cc7dc3_0", "category": "counter", "room": "8/bathroom", "appearance": null, "relation": [ [ true, "near", "toilet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "faucet/model_ff164ca8d0ef3decfabdc7d301a17fbf_0", "category": "faucet", "room": "8/bathroom", "appearance": [ "The base is rectangular with a slightly curved front." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom. There is/are a decoration located near the picture. There is/are a bottle located near the picture.)\". The target location is on a counter(This object is in bathroom. There is/are a toilet located near the object.), and nearby a faucet(This object is in bathroom.The base is rectangular with a slightly curved front.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_06_6KB2WFJVAZWMAPTULQ888888" ] } ], "pillow/model_3df8a532647f97e1de78b1f3e6c12642_0": [ { "instruction": "Pick the pillow from the bedroom, which is near a cabinet, a chair, and a plant, and place it on the shelf that holds a towel and is near the toilet.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_bd5af2f8457363547f81d2eb8f63ed58_0", "category": "shelf", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "towel" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "toilet/model_139ff73bbc02e4e412ebd6c690854922_0", "category": "toilet", "room": null, "appearance": null, "relation": [ [ true, "near", "shelf" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a chair located near the pillow. There is/are a plant located near the pillow. nothing is above the pillow.)\". The target location is on a shelf( There is/are a towel located contain/hold the object.), and nearby a toilet( There is/are a shelf located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_31_ZDB6BFJVAIM7CPTUKE888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a cabinet, chair, and plant, and place it in the kitchen near the trashcan and door.", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_451083ab00143c865b4d7ada073a7d09_0", "category": "trashcan", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_17e0ebfcd0c915fcc48872dcd929cc80_0", "category": "door", "room": "7/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a chair located near the pillow. There is/are a plant located near the pillow. nothing is above the pillow.)\". The target location is nearby a trashcan, and nearby a door(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_31_ZDB6BFJVAIM7CPTUKE888888" ] } ], "keyboard/model_fce8e39f9099a5045ca91454e25adff6_0": [ { "instruction": "Pick the keyboard and place it near the chair in the dining room, close to the table.", "condition": [ { "object_attribute": { "instance_id": "chair/model_75d9abdb2a1491d6eb41a01a228867b8_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_74515ef948287f0f700e9c45a6fdc47c_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is keyboard(This object is a keyboard.)\". The target location is nearby a chair(This object is in dinning room.), and nearby a table.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "keyboard/SM_01_ZBB6WZRVALDEWPTULI888888" ] }, { "instruction": "Pick the keyboard and place it on the cabinet in the bathroom, near the bottle decoration.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_34347451d4ef792f7cd8bf986d2572e6_0", "category": "cabinet", "room": "0/bathroom", "appearance": [ "The images show a plain surface." ], "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_52633ef7e9e2947910566e693acf7ca4_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "near", "bottle" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is keyboard(This object is a keyboard.)\". The target location is on a cabinet(This object is in bathroom.The images show a plain surface.), and nearby a decoration( There is/are a bottle located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "keyboard/SM_01_ZBB6WZRVALDEWPTULI888888" ] } ], "pillow/model_f156b011a75b8426ca922d88ba473dd2_0": [ { "instruction": "Pick up the pillow from the bedroom, which is near a cabinet, a chair, and a curtain. Place it near the curtain with a door that has a wavy bottom edge, and also near the curtain with a sink.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_b9d7481da2fbf75de5136ad8563eeb37_0", "category": "curtain", "room": null, "appearance": [ "It appears to have a wavy bottom edge." ], "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_3bbbf5005816f994e3cf9d021d06bd11_0", "category": "curtain", "room": null, "appearance": null, "relation": [ [ true, "near", "sink" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a chair located near the pillow. There is/are a curtain located near the pillow.)\". The target location is nearby a curtain( There is/are a door located near the object.It appears to have a wavy bottom edge.), and nearby a curtain( There is/are a sink located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_37_ZF6INKZVAJOYSPTUKY888888", "pillow/SM_39_ZF6INKZVAJOYSPTUKY888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a cabinet, chair, and curtain, and place it nearby the bed and monitor.", "condition": [ { "object_attribute": { "instance_id": "bed/model_7930d69fc28dce8c4b2a7bd7aa969c7e_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "monitor/model_70aead6fc39aaaca780e862718172447_0", "category": "monitor", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a chair located near the pillow. There is/are a curtain located near the pillow.)\". The target location is nearby a bed, and nearby a monitor.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_37_ZF6INKZVAJOYSPTUKY888888", "pillow/SM_39_ZF6INKZVAJOYSPTUKY888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAAEI8_usd": {}, "MVUHL5YKTKJ5EAABAAAAAAA8_usd": { "cup/model_1512de40e1ebb857eabe08b45f4f35cc_0": [ { "instruction": "Pick the cup from the dining room and place it in the living room nearby a plant and a shelf with a bottle on it.", "condition": [ { "object_attribute": { "instance_id": "plant/model_57c8bd870d9a1faebaaa272eee75a9e9_0", "category": "plant", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shelf/model_9e46e3cd4b25a4b698f773328be73f6c_0", "category": "shelf", "room": "9/living room", "appearance": null, "relation": [ [ true, "on", "bottle" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room.)\". The target location is nearby a plant, and nearby a shelf(This object is in living room. There is/are a bottle located on the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_ZENDETBVAJ5NEPTULQ888888" ] }, { "instruction": "Pick the cup in the dining room and place it on the chair in the dining room, nearby the table.", "condition": [ { "object_attribute": { "instance_id": "chair/model_dccb8ec9e8333117b2298dd102d8c141_0", "category": "chair", "room": "10/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "table/model_a5b5a6c7c01650448e60f61b16313301_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room.)\". The target location is on a chair(This object is in dinning room.), and nearby a table.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_ZENDETBVAJ5NEPTULQ888888" ] } ], "pen/model_e534ebe074e2324b1ea2e926cda15c83_0": [ { "instruction": "Pick the pen and place it near the trashcan in the bedroom with a rounded, oval-shaped lid and near the pillow.", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_6bec5719503e7d0701763bc79cb1eda4_0", "category": "trashcan", "room": "1/bedroom", "appearance": [ "The lid has a rounded, oval shape with a flat top." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_b228db94c300aa38ebe424a9a60d349e_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. nothing is below the pen.)\". The target location is nearby a trashcan(This object is in bedroom.The lid has a rounded, oval shape with a flat top.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_ZENDETBVAJ5NEPTULQ888888", "pen/SM_01_ZENDETBVAJ5NEPTULQ888888", "pen/SM_02_ZENDETBVAJ5NEPTULQ888888", "pen/SM_03_ZENDETBVAJ5NEPTULQ888888", "pen/SM_04_ZENDETBVAJ5NEPTULQ888888", "pen/SM_05_ZENDETBVAJ5NEPTULQ888888", "pen/SM_06_ZENDETBVAJ5NEPTULQ888888", "pen/SM_07_ZENDETBVAJ5NEPTULQ888888", "pen/SM_08_ZENDETBVAJ5NEPTULQ888888", "pen/SM_09_ZENDETBVAJ5NEPTULQ888888", "pen/SM_10_ZENDETBVAJ5NEPTULQ888888", "pen/SM_11_ZENDETBVAJ5NEPTULQ888888", "pen/SM_12_ZENDETBVAJ5NEPTULQ888888", "pen/SM_13_ZENDETBVAJ5NEPTULQ888888", "pen/SM_14_ZENDETBVAJ5NEPTULQ888888", "pen/SM_15_ZENDETBVAJ5NEPTULQ888888", "pen/SM_16_ZENDETBVAJ5NEPTULQ888888", "pen/SM_18_ZENDETBVAJ5NEPTULQ888888", "pen/SM_19_ZENDETBVAJ5NEPTULQ888888", "pen/SM_20_ZENDETBVAJ5NEPTULQ888888", "pen/SM_21_ZENDETBVAJ5NEPTULQ888888", "pen/SM_22_ZENDETBVAJ5NEPTULQ888888" ] }, { "instruction": "Pick the pen and place it on the desk, nearby a pillow.", "condition": [ { "object_attribute": { "instance_id": "desk/model_c214c4ef47af0190632405cf6bbecd61_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_ddb6483962d2abb3c7345fa9fc2b73ad_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. nothing is below the pen.)\". The target location is on a desk, and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_ZENDETBVAJ5NEPTULQ888888", "pen/SM_01_ZENDETBVAJ5NEPTULQ888888", "pen/SM_02_ZENDETBVAJ5NEPTULQ888888", "pen/SM_03_ZENDETBVAJ5NEPTULQ888888", "pen/SM_04_ZENDETBVAJ5NEPTULQ888888", "pen/SM_05_ZENDETBVAJ5NEPTULQ888888", "pen/SM_06_ZENDETBVAJ5NEPTULQ888888", "pen/SM_07_ZENDETBVAJ5NEPTULQ888888", "pen/SM_08_ZENDETBVAJ5NEPTULQ888888", "pen/SM_09_ZENDETBVAJ5NEPTULQ888888", "pen/SM_10_ZENDETBVAJ5NEPTULQ888888", "pen/SM_11_ZENDETBVAJ5NEPTULQ888888", "pen/SM_12_ZENDETBVAJ5NEPTULQ888888", "pen/SM_13_ZENDETBVAJ5NEPTULQ888888", "pen/SM_14_ZENDETBVAJ5NEPTULQ888888", "pen/SM_15_ZENDETBVAJ5NEPTULQ888888", "pen/SM_16_ZENDETBVAJ5NEPTULQ888888", "pen/SM_18_ZENDETBVAJ5NEPTULQ888888", "pen/SM_19_ZENDETBVAJ5NEPTULQ888888", "pen/SM_20_ZENDETBVAJ5NEPTULQ888888", "pen/SM_21_ZENDETBVAJ5NEPTULQ888888", "pen/SM_22_ZENDETBVAJ5NEPTULQ888888" ] } ], "bottle/model_65f848a5dce7825e5683c8001cb20cec_0": [ { "instruction": "Pick the bottle in the bedroom and place it nearby a towel located above the object in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "towel/model_ed6f1f9b6dc8868b51b188c4a6985fa6_0", "category": "towel", "room": "2/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_85807e3173c6668e5568016db32777d7_0", "category": "towel", "room": "2/bedroom", "appearance": null, "relation": [ [ true, "above", "towel" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is nearby a towel(This object is in bedroom.), and nearby a towel(This object is in bedroom. There is/are a towel located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_04_ZEWBXIBVAJRIKPTUKY888888" ] } ], "pillow/model_23abf13e81349a825d63bfdf7b84d792_0": [ { "instruction": "Pick the plump pillow located near the lamp and cabinet, and place it in the dining room near the chair and plant.", "condition": [ { "object_attribute": { "instance_id": "chair/model_12cc4c370dd5162b8b9cd9004f56aaf2_0", "category": "chair", "room": "10/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_9a8cae2aa4c746b1ee789e68af93b7d2_0", "category": "plant", "room": "10/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a lamp located near the pillow. There is/are a cabinet located near the pillow. nothing is below the pillow. The pillow appears to be plump.)\". The target location is nearby a chair(This object is in dinning room.), and nearby a plant(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_19_ZF6INKZVAJOYSPTUKY888888", "pillow/SM_23_ZF6INKZVAJOYSPTUKY888888" ] }, { "instruction": "Pick the light purple pillow located near the lamp and cabinet, and place it nearby the clothes that are above the target location.", "condition": [ { "object_attribute": { "instance_id": "clothes/model_19a833da2dc9930ffd5cc98bb2ee705a_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "clothes/model_9d8f86aaba995d96d98ad9f09d73d2d6_0", "category": "clothes", "room": null, "appearance": null, "relation": [ [ true, "above", "clothes" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a lamp located near the pillow. There is/are a cabinet located near the pillow. nothing is below the pillow. It has a light purple color.)\". The target location is nearby a clothes, and nearby a clothes( There is/are a clothes located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_19_ZF6INKZVAJOYSPTUKY888888", "pillow/SM_23_ZF6INKZVAJOYSPTUKY888888" ] } ], "bottle/model_7694128db268c224fd25748982507779_0": [ { "instruction": "Pick the bottle from the living room, which is near a decoration and has a plant above it, and place it on the cabinet near the clock.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_b856ea266d3a350f96aaa63ec29eb544_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "clock/model_a42fe03e8843e8bdfb3fd15309a9c6de_0", "category": "clock", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are a decoration located near the bottle. There is/are a plant located above the bottle. The bottle has an opening at the top.)\". The target location is on a cabinet, and nearby a clock.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZEWBXIBVAJRIKPTUKY888888", "bottle/SM_01_ZEOVVYZVAI3Y2PTULY888888", "bottle/SM_06_ZEN4UBBVAIMOGPTULI888888", "bottle/SM_07_ZEN4RMJVAJYO4PTULQ888888" ] }, { "instruction": "Pick the bottle, which is in the living room near a decoration and below a plant, and place it on the dishwasher in the kitchen, which is nearby a cabinet and has nothing above it.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_4c06d3581a37a4a5c9b93f933b14df6c_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_f82d5f8eb7fda624bfc08f3d328164df_0", "category": "cabinet", "room": "5/kitchen", "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are a decoration located near the bottle. There is/are a plant located above the bottle. The bottle consists of a main body.)\". The target location is on a dishwasher, and nearby a cabinet(This object is in kitchen.nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZEWBXIBVAJRIKPTUKY888888", "bottle/SM_01_ZEOVVYZVAI3Y2PTULY888888", "bottle/SM_06_ZEN4UBBVAIMOGPTULI888888", "bottle/SM_07_ZEN4RMJVAJYO4PTULQ888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAACI8_usd": { "pillow/model_f0055a00ebc3cda8e2371c5527a4aaad_0": [ { "instruction": "Pick the pillow near the cabinet and place it on the table near the chair.", "condition": [ { "object_attribute": { "instance_id": "table/model_6b7d82fa97a2d2424805ded6812f6575_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_91a5b885497f3c21f1995cfedffdbb53_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a cabinet located near the pillow.)\". The target location is on a table, and nearby a chair.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6IYH2WJVAZWPQPTULE888888", "pillow/SM_01_6IYH2WJVAZWPQPTULE888888" ] }, { "instruction": "Pick the pillow near the cabinet and place it on the cabinet near the picture.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_9006386a88d4990795fc6857d6020e7f_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "picture/model_69d46fb201f33eb8641be88ff801081e_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a cabinet located near the pillow.)\". The target location is on a cabinet, and nearby a picture.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6IYH2WJVAZWPQPTULE888888", "pillow/SM_01_6IYH2WJVAZWPQPTULE888888" ] } ], "bottle/model_e277e5886369658e44d8ce9145511800_0": [ { "instruction": "Pick the bottle located near the sofa chair and above the cabinet, and place it on the cabinet in the living room, which has a plant on it and is near another cabinet with a decoration nearby.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_8014f703a2ed7fc4772c4d73b736d108_0", "category": "cabinet", "room": "3/living room", "appearance": null, "relation": [ [ true, "on", "plant" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_a7ff51c5c82619967e0361f90268b339_0", "category": "cabinet", "room": "3/living room", "appearance": null, "relation": [ [ true, "near", "decoration" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. There is/are a sofa_chair located near the bottle. There is/are a cabinet located under the bottle.)\". The target location is on a cabinet(This object is in living room. There is/are a plant located on the object.), and nearby a cabinet(This object is in living room. There is/are a decoration located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6MVNQ4JVAURAQPTUL4888888", "bottle/SM_01_6MVNQ4JVAURAQPTUL4888888", "bottle/SM_02_6MVNQ4JVAURAQPTUL4888888" ] }, { "instruction": "Pick the bottle, which is near a sofa chair and above a cabinet, and place it on the table with a conical base, located near a couch.", "condition": [ { "object_attribute": { "instance_id": "table/model_65ec4fc466fd3ff2d12ca5b78978952f_0", "category": "table", "room": null, "appearance": [ "The base is conical." ], "relation": [ [ true, "near", "couch" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "couch/model_2185fdd32a7cbc84f46a3d41d4a998ce_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. There is/are a sofa_chair located near the bottle. There is/are a cabinet located under the bottle.)\". The target location is on a table( There is/are a couch located near the object.The base is conical.), and nearby a couch.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6MVNQ4JVAURAQPTUL4888888", "bottle/SM_01_6MVNQ4JVAURAQPTUL4888888", "bottle/SM_02_6MVNQ4JVAURAQPTUL4888888" ] } ], "pillow/model_b4f82103d2daec1244e54639b631a667_0": [ { "instruction": "Pick the pillow near the window and place it on the cabinet near the basket.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_4d25266f99eaa39f66860583e9c4cce4_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "basket/model_a8c1a60a656663d56f7b57a64f7ef7b4_0", "category": "basket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow.)\". The target location is on a cabinet, and nearby a basket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_02_6GOH3TETD5TGAPTUKQ888888", "pillow/SM_03_6GOH3TETD5TGAPTUKQ888888" ] }, { "instruction": "Pick the pillow located near the window and place it nearby a light.", "condition": [ { "object_attribute": { "instance_id": "light/model_4909be48dbabc1af7842b1e9b935d8e8_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "light/model_fba779b7e708ed0672bb0f4b6e5384cd_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow.)\". The target location is nearby a light, and nearby a light.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_02_6GOH3TETD5TGAPTUKQ888888", "pillow/SM_03_6GOH3TETD5TGAPTUKQ888888" ] } ], "pan/model_e35623e630d29261959040a5081efa77_0": [ { "instruction": "Pick the pan and place it on the conical-based table in the living room, nearby the couch.", "condition": [ { "object_attribute": { "instance_id": "table/model_65ec4fc466fd3ff2d12ca5b78978952f_0", "category": "table", "room": "4/living room", "appearance": [ "The base is conical." ], "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "couch/model_2185fdd32a7cbc84f46a3d41d4a998ce_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a table(This object is in living room.The base is conical.), and nearby a couch.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWMFZVAIMJCPTULI888888" ] }, { "instruction": "Pick the pan and place it on the bed, nearby the blanket.", "condition": [ { "object_attribute": { "instance_id": "bed/model_8495e64fa0e163e9a0fe88c31a097dad_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_4ba74318ccd4c196c1067e046febc6ae_0", "category": "blanket", "room": null, "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a bed, and nearby a blanket(nothing is below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWMFZVAIMJCPTULI888888" ] } ], "picture/model_69d46fb201f33eb8641be88ff801081e_0": [ { "instruction": "Pick the picture from the bedroom and place it near the pillow by the window.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_b4f82103d2daec1244e54639b631a667_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_0ef483a2df333abb611d2594645f0677_0", "category": "window", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "pillow" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture.)\". The target location is nearby a pillow, and nearby a window(This object is in bedroom. There is/are a pillow located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6ADQ6JMTD5TGO7MCJQ888888" ] }, { "instruction": "Pick the picture and place it on the table near the decoration and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_a03d16f38746444f9029ef9668d965d3_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_73244418d3e1817a3bef5d2ca10af2f2_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture.)\". The target location is nearby a decoration( There is/are a table located near the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6ADQ6JMTD5TGO7MCJQ888888" ] } ], "tray/model_0e670d9ca896a91367ae5f3c380720b8_0": [ { "instruction": "Pick the tray and place it nearby a light.", "condition": [ { "object_attribute": { "instance_id": "light/model_fba779b7e708ed0672bb0f4b6e5384cd_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "light/model_4909be48dbabc1af7842b1e9b935d8e8_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is nearby a light, and nearby a light.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6MVNQ4JVAURAQPTUL4888888" ] }, { "instruction": "Pick the tray located below the decoration and place it on the sofa chair.", "condition": [ { "object_attribute": { "instance_id": "sofa_chair/model_2eb35a9ae3c49844dee3c877ad331fc5_0", "category": "sofa_chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_4a263a9af770717a04ea91f85507fa70_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "below", "tray" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is on a sofa_chair, and nearby a decoration( There is/are a tray located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6MVNQ4JVAURAQPTUL4888888" ] } ], "light/model_3ffa7ee94b42e9dcfc703a16a94b2eba_0": [ { "instruction": "Pick the light located near a cabinet and a plant, and place it on the cabinet in the kitchen, nearby a pan.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_c745843fe291ea89a674652a5da29f6e_0", "category": "cabinet", "room": "2/kitchen", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pan/model_e35623e630d29261959040a5081efa77_0", "category": "pan", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. There is/are a cabinet located near the light. There is/are a plant located near the light.)\". The target location is on a cabinet(This object is in kitchen.), and nearby a pan.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6DBWEUETDD52AUTTKI888888" ] }, { "instruction": "Pick the light near the cabinet and plant, and place it on the bed near the curtain.", "condition": [ { "object_attribute": { "instance_id": "bed/model_8495e64fa0e163e9a0fe88c31a097dad_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_6abeb60674dfb8545e8e96975e574233_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. There is/are a cabinet located near the light. There is/are a plant located near the light.)\". The target location is on a bed, and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6DBWEUETDD52AUTTKI888888" ] } ], "cup/model_99550e8f57d4ce85f878101119910cca_0": [ { "instruction": "Pick the cup and place it on the table near the decoration in the living room by the window.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_ba4c570ecba8cbf17278c878f5bbc410_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_58f7deb3698e89ca6a603fc50c07f525_0", "category": "window", "room": "3/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is nearby a decoration( There is/are a table located near the object.), and nearby a window(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_6MVNQ4JVAURAQPTUL4888888" ] }, { "instruction": "Pick the cup (This object is a cup.) and place it on the table (This object is in dining room.), nearby the mirror (This object is in dining room.).", "condition": [ { "object_attribute": { "instance_id": "table/model_6b7d82fa97a2d2424805ded6812f6575_0", "category": "table", "room": "5/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_765212ae0b53e9dae10d2c56f4f892e7_0", "category": "mirror", "room": "5/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is on a table(This object is in dinning room.), and nearby a mirror(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_6MVNQ4JVAURAQPTUL4888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAABI8_usd": { "cup/model_d2562647e3eb38371f71f378ce94ced7_0": [ { "instruction": "Pick the cup from the balcony near the window and place it in the living room near the cabinet and the pen, which is near a plant.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_bc9bce10e266f56f04d625854d25defe_0", "category": "cabinet", "room": "5/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_fcccde48f6864ed623e1b10fcfb670b5_0", "category": "pen", "room": "5/living room", "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in balcony. There is/are a window located near the cup.)\". The target location is nearby a cabinet(This object is in living room.), and nearby a pen(This object is in living room. There is/are a plant located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_03_6CFUQU4TDD52EXTSKI888888" ] }, { "instruction": "Pick the cup located in the balcony near the window and place it in the kitchen near the faucet and the door.", "condition": [ { "object_attribute": { "instance_id": "faucet/model_31fb13371449e8441bf0a1d74cb24f05_0", "category": "faucet", "room": "6/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_1cd05a000905da3e32c4a053cdc13d13_0", "category": "door", "room": "6/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in balcony. There is/are a window located near the cup.)\". The target location is nearby a faucet(This object is in kitchen.), and nearby a door(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_03_6CFUQU4TDD52EXTSKI888888" ] } ], "bottle/model_aae58e9a74a59c9a025ff83c03305c52_0": [ { "instruction": "Pick the bottle in the living room, which is near a decoration, and place it in the bedroom near the light and the toy, which is near a pillow.", "condition": [ { "object_attribute": { "instance_id": "light/model_c2e405f84041532be209da8ee332fa73_0", "category": "light", "room": null, "appearance": null, "relation": [ [ true, "near", "toy" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toy/model_8592e372c343842d31a3037088475ae6_0", "category": "toy", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "pillow" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are a decoration located near the bottle.)\". The target location is nearby a light( There is/are a toy located near the object.), and nearby a toy(This object is in bedroom. There is/are a pillow located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_04_6HRCN3UTDD52APTULM888888" ] }, { "instruction": "Pick the bottle in the living room near the decoration and place it on the bed near the door and pillow, with a light above.", "condition": [ { "object_attribute": { "instance_id": "bed/model_11942e05b6d05bcee503f721d7d749aa_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_41ccd0e27d98427a303a27e402b4503e_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "above", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are a decoration located near the bottle.)\". The target location is on a bed( There is/are a door located near the object.), and nearby a pillow( There is/are a light located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_04_6HRCN3UTDD52APTULM888888" ] } ], "pen/model_28a5d409cc57feb7f6a46519e709fb5e_0": [ { "instruction": "Pick the pen from the cup in the balcony and place it on the shelf in the balcony, nearby the blanket.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_8fc56e3dc8f6b5bdf5b94ecf08ebfed1_0", "category": "shelf", "room": "2/balcony", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_fc77177983846d802a1b8e893b43403d_0", "category": "blanket", "room": "2/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. This object is in balcony. There is/are a cup located contain/hold the pen.)\". The target location is on a shelf(This object is in balcony.), and nearby a blanket(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_22_ZENDETBVAJ5NEPTULQ888888", "pen/SM_23_ZENDETBVAJ5NEPTULQ888888", "pen/SM_24_ZENDETBVAJ5NEPTULQ888888", "pen/SM_25_ZENDETBVAJ5NEPTULQ888888", "pen/SM_26_ZENDETBVAJ5NEPTULQ888888", "pen/SM_27_ZENDETBVAJ5NEPTULQ888888", "pen/SM_28_ZENDETBVAJ5NEPTULQ888888", "pen/SM_29_ZENDETBVAJ5NEPTULQ888888", "pen/SM_30_ZENDETBVAJ5NEPTULQ888888", "pen/SM_31_ZENDETBVAJ5NEPTULQ888888", "pen/SM_32_ZENDETBVAJ5NEPTULQ888888", "pen/SM_33_ZENDETBVAJ5NEPTULQ888888", "pen/SM_34_ZENDETBVAJ5NEPTULQ888888", "pen/SM_36_ZENDETBVAJ5NEPTULQ888888", "pen/SM_37_ZENDETBVAJ5NEPTULQ888888", "pen/SM_38_ZENDETBVAJ5NEPTULQ888888", "pen/SM_39_ZENDETBVAJ5NEPTULQ888888", "pen/SM_40_ZENDETBVAJ5NEPTULQ888888", "pen/SM_41_ZENDETBVAJ5NEPTULQ888888", "pen/SM_42_ZENDETBVAJ5NEPTULQ888888", "pen/SM_43_ZENDETBVAJ5NEPTULQ888888", "pen/SM_44_ZENDETBVAJ5NEPTULQ888888" ] }, { "instruction": "Pick the pen from the cup in the balcony and place it on the cabinet in the bedroom, near the pillow on the bed.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_df67e698856931385b2c3ae0a1ec5078_0", "category": "cabinet", "room": "1/bedroom", "appearance": null, "relation": [ [ true, "in", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_22d338fdf43b3e8ebc55c7b054823156_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "under", "bed" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen. This object is in balcony. There is/are a cup located contain/hold the pen.)\". The target location is on a cabinet(This object is in bedroom.nothing is in the object.), and nearby a pillow( There is/are a bed located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_22_ZENDETBVAJ5NEPTULQ888888", "pen/SM_23_ZENDETBVAJ5NEPTULQ888888", "pen/SM_24_ZENDETBVAJ5NEPTULQ888888", "pen/SM_25_ZENDETBVAJ5NEPTULQ888888", "pen/SM_26_ZENDETBVAJ5NEPTULQ888888", "pen/SM_27_ZENDETBVAJ5NEPTULQ888888", "pen/SM_28_ZENDETBVAJ5NEPTULQ888888", "pen/SM_29_ZENDETBVAJ5NEPTULQ888888", "pen/SM_30_ZENDETBVAJ5NEPTULQ888888", "pen/SM_31_ZENDETBVAJ5NEPTULQ888888", "pen/SM_32_ZENDETBVAJ5NEPTULQ888888", "pen/SM_33_ZENDETBVAJ5NEPTULQ888888", "pen/SM_34_ZENDETBVAJ5NEPTULQ888888", "pen/SM_36_ZENDETBVAJ5NEPTULQ888888", "pen/SM_37_ZENDETBVAJ5NEPTULQ888888", "pen/SM_38_ZENDETBVAJ5NEPTULQ888888", "pen/SM_39_ZENDETBVAJ5NEPTULQ888888", "pen/SM_40_ZENDETBVAJ5NEPTULQ888888", "pen/SM_41_ZENDETBVAJ5NEPTULQ888888", "pen/SM_42_ZENDETBVAJ5NEPTULQ888888", "pen/SM_43_ZENDETBVAJ5NEPTULQ888888", "pen/SM_44_ZENDETBVAJ5NEPTULQ888888" ] } ], "plate/model_da3415e93c71610e94fdc549d39c3065_0": [ { "instruction": "Pick the plate in the balcony and place it on the chair near the pillow and blanket.", "condition": [ { "object_attribute": { "instance_id": "chair/model_cdbc1b099aaf98ed89b82897cae0c079_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_215e33e28ffc2ddb4c005f86cab31673_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. This object is in balcony.)\". The target location is on a chair, and nearby a pillow( There is/are a blanket located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_02_6CFUQU4TDD52EXTSKI888888" ] }, { "instruction": "Pick the plate from the balcony and place it in the bedroom, nearby the cabinet and the pillow.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_a1577a34aa6349ae7d464f3124a9cab6_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_c9d1d1bb490c70dd45659a54ecfc14e7_0", "category": "pillow", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. This object is in balcony.)\". The target location is nearby a cabinet, and nearby a pillow(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_02_6CFUQU4TDD52EXTSKI888888" ] } ], "pillow/model_4d2da35ea2cc73c799c558ec705e9951_0": [ { "instruction": "Pick the pillow from the living room and place it in the balcony nearby a pen and a cup.", "condition": [ { "object_attribute": { "instance_id": "pen/model_63607dd0ce39b6cad8118a4880a17b84_0", "category": "pen", "room": "2/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_11e7ab816d104dfb471322ad5747b4fb_0", "category": "pen", "room": "2/balcony", "appearance": null, "relation": [ [ true, "contain/hold", "cup" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. nothing is above the pillow.)\". The target location is nearby a pen(This object is in balcony.), and nearby a pen(This object is in balcony. There is/are a cup located contain/hold the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_6CILWAMTDD52CAWJK4888888" ] }, { "instruction": "Pick the pillow in the living room and place it near the pen and the plant, which are both in the living room. The pen is near a plant, and the plant is near a blanket.", "condition": [ { "object_attribute": { "instance_id": "pen/model_d5741f3246ad9821bed6208ead649b68_0", "category": "pen", "room": "5/living room", "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_4eef3df6413184384f9194c34b8b424e_0", "category": "plant", "room": "5/living room", "appearance": null, "relation": [ [ true, "near", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. nothing is above the pillow.)\". The target location is nearby a pen(This object is in living room. There is/are a plant located near the object.), and nearby a plant(This object is in living room. There is/are a blanket located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_6CILWAMTDD52CAWJK4888888" ] } ], "pot/model_43a894df39f46e0c4447bfc2617f3ed0_0": [ { "instruction": "Pick the pot near the light and place it on the chair with a light beige or natural wood frame, near the plate in the living room.", "condition": [ { "object_attribute": { "instance_id": "chair/model_323dca5f72aa53f2aa16c3a1b0e1ba35_0", "category": "chair", "room": null, "appearance": [ "The frame is a light beige or natural wood color." ], "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plate/model_9fdb0684b5733ffc811ed77e4db35ff2_0", "category": "plate", "room": "5/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. There is/are a light located near the pot.)\". The target location is on a chair(The frame is a light beige or natural wood color.), and nearby a plate(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWOFRVAJQXQPTUKA888888" ] }, { "instruction": "Pick the pot located near the light and place it on the sofa chair in the living room, nearby the trashcan.", "condition": [ { "object_attribute": { "instance_id": "sofa_chair/model_862b018e921ef33d3f87620f54d9c7f5_0", "category": "sofa_chair", "room": "5/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "trashcan/model_46cb68cc8963ead82f3828ca5f3af4bc_0", "category": "trashcan", "room": "5/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. There is/are a light located near the pot.)\". The target location is on a sofa_chair(This object is in living room.), and nearby a trashcan(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWOFRVAJQXQPTUKA888888" ] } ], "cup/model_58904fffcc63548a6e9605d003af4107_0": [ { "instruction": "Pick the cup in the living room, which is near a decoration and on a tray, and place it in the balcony nearby a pen and a cabinet.", "condition": [ { "object_attribute": { "instance_id": "pen/model_63607dd0ce39b6cad8118a4880a17b84_0", "category": "pen", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_c00eecdf507ff51d061c30334a3f7e62_0", "category": "cabinet", "room": "2/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in living room. There is/are a decoration located near the cup. There is/are a tray located under the cup.)\". The target location is nearby a pen, and nearby a cabinet(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_04_6HRCN3UTDD52APTULM888888", "cup/SM_05_6HRCN3UTDD52APTULM888888" ] }, { "instruction": "Pick the cup from the living room, which is near a decoration and on a tray, and place it in the bedroom near a decoration and the bed.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_8caef4bf137c9d21f18d666a13e169e5_0", "category": "decoration", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_d7bb12b083ad3d2860d3f1261beb25cd_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in living room. There is/are a decoration located near the cup. There is/are a tray located under the cup.)\". The target location is nearby a decoration(This object is in bedroom.), and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_04_6HRCN3UTDD52APTULM888888", "cup/SM_05_6HRCN3UTDD52APTULM888888" ] } ], "picture/model_cfbfa601b672ab930be11b77c3fb8583_0": [ { "instruction": "Pick the picture, which has nothing below it, and place it on the cabinet in the living room near the door. Ensure it is nearby the bottle, which is on a cabinet located under it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_6ff17fde593e043598016cc3ae1bdddf_0", "category": "cabinet", "room": "5/living room", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bottle/model_c16e4587895e9309abdb55344317e7cb_0", "category": "bottle", "room": null, "appearance": null, "relation": [ [ true, "under", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. nothing is below the picture.)\". The target location is on a cabinet(This object is in living room. There is/are a door located near the object.), and nearby a bottle( There is/are a cabinet located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6OIBJ6ZVAVDDWPTUKY888888" ] }, { "instruction": "Pick the picture, which has nothing below it, and place it on the bed near the light, where there is a blanket located below.", "condition": [ { "object_attribute": { "instance_id": "bed/model_11942e05b6d05bcee503f721d7d749aa_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "light/model_c26977156cc91f3d02244bfceb3930a7_0", "category": "light", "room": null, "appearance": null, "relation": [ [ true, "below", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. nothing is below the picture.)\". The target location is on a bed, and nearby a light( There is/are a blanket located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6OIBJ6ZVAVDDWPTUKY888888" ] } ], "pot/model_a307dfaa2a01160b9a676efbe8854ffe_0": [ { "instruction": "Pick the pot, which has a decoration nearby and is on a tray, and place it near the pen in the balcony, where there is a cup.", "condition": [ { "object_attribute": { "instance_id": "pen/model_c7616de090f20f08dfa9fbcb8345488b_0", "category": "pen", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pen/model_222b3cbd8876ecbda78a0e5c53d0c766_0", "category": "pen", "room": "2/balcony", "appearance": null, "relation": [ [ true, "contain/hold", "cup" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. There is/are a decoration located near the pot. There is/are a tray located under the pot.)\". The target location is nearby a pen(nothing is contain/hold the object.), and nearby a pen(This object is in balcony. There is/are a cup located contain/hold the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_6HRCN3UTDD52APTULM888888", "pot/SM_01_ZEMWOFRVAJQXQPTUKE888888" ] }, { "instruction": "Pick the pot, which has a decoration nearby and a tray underneath, and place it on the cabinet in the toilet, near the towel.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_6812eb9147e77197723e97142d60aa58_0", "category": "cabinet", "room": "4/toilet", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "towel/model_62468fd681ebc8ef2af7c56920276051_0", "category": "towel", "room": "4/toilet", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. There is/are a decoration located near the pot. There is/are a tray located under the pot.)\". The target location is on a cabinet(This object is in toilet.), and nearby a towel(This object is in toilet.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_6HRCN3UTDD52APTULM888888", "pot/SM_01_ZEMWOFRVAJQXQPTUKE888888" ] } ], "cup/model_cfaaeb4a0629e2466e3a601002afd7ef_0": [ { "instruction": "Pick the cup from the balcony near the cabinet and place it on the table in the living room, which has a book on it and is nearby a pot.", "condition": [ { "object_attribute": { "instance_id": "table/model_f5a8f0d423b893654f52d8e8fbefbdb2_0", "category": "table", "room": "5/living room", "appearance": null, "relation": [ [ true, "on", "book" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pot/model_24021dff06e132b2525be10041cdcd76_0", "category": "pot", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in balcony. There is/are a cabinet located near the cup.)\". The target location is on a table(This object is in living room. There is/are a book located on the object.), and nearby a pot.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_02_ZENDETBVAJ5NEPTULQ888888" ] }, { "instruction": "Pick the cup located in the balcony near the cabinet and place it on the table in the bedroom near the curtain.", "condition": [ { "object_attribute": { "instance_id": "table/model_36bc9c8bb01206888d1a438fbc57f0ba_0", "category": "table", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_0cb87c18b3bd3ff51858d5eeb170458b_0", "category": "curtain", "room": "1/bedroom", "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in balcony. There is/are a cabinet located near the cup.)\". The target location is on a table(This object is in bedroom.), and nearby a curtain(This object is in bedroom. There is/are a table located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_02_ZENDETBVAJ5NEPTULQ888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAABY8_usd": { "toy/model_8b1decce829f53d21d99843e4583dffb_0": [ { "instruction": "Pick the toy with a light above it and place it on the cabinet in the corridor, which is near the washing machine.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_dc69ec5a1d815db86e23193601e529ee_0", "category": "cabinet", "room": "8/corridor", "appearance": null, "relation": [ [ true, "contain/hold", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_be2234dbba941a17522a2cf48d88d268_0", "category": "cabinet", "room": "8/corridor", "appearance": null, "relation": [ [ true, "on", "washingmachine" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy. There is/are a light located above the toy.)\". The target location is on a cabinet(This object is in corridor. There is/are a cabinet located contain/hold the object.), and nearby a cabinet(This object is in corridor. There is/are a washingmachine located on the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_00_6KAIWCZVAVPLKPTUKU888888", "toy/SM_01_6KAIWCZVAVPLKPTUKU888888", "toy/SM_02_6KAIWCZVAVPLKPTUKU888888" ] }, { "instruction": "Pick the toy with a light above it and place it near the cabinet in the dining room with clothes above it, and near the shoe with a chair nearby.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_d25b1eaa551dc87164ebc6fecefa5e20_0", "category": "cabinet", "room": "9/dinning room", "appearance": null, "relation": [ [ true, "above", "clothes" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_261180af0da552f1a76cc090a6b06bbc_0", "category": "shoe", "room": null, "appearance": null, "relation": [ [ true, "near", "chair" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy. There is/are a light located above the toy.)\". The target location is nearby a cabinet(This object is in dinning room. There is/are a clothes located above the object.), and nearby a shoe( There is/are a chair located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_00_6KAIWCZVAVPLKPTUKU888888", "toy/SM_01_6KAIWCZVAVPLKPTUKU888888", "toy/SM_02_6KAIWCZVAVPLKPTUKU888888" ] } ], "light/model_75d12c7181156ec1c9621b485a74365a_0": [ { "instruction": "Pick the light in the bedroom, which is near another light and above a bottle, and place it on the cabinet, which has a decoration above it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_ddfa22cf495a56f936e12b448b37d564_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "above", "decoration" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_618dc0c77616f7fbb2b9f863a221cef2_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom. There is/are 1 another light located near the light. There is/are a bottle located below the light.)\". The target location is on a cabinet( There is/are a decoration located above the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_04_6AEI5EUTDD52EIE3KE888888" ] }, { "instruction": "Pick the light in the bedroom, which is near another light and above a bottle, and place it on the shelf in the corridor, nearby a cabinet.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_2965e073325edced268389ffe3583481_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_0ac1552e77a5063fc5cbe6d3d95398a2_0", "category": "cabinet", "room": "8/corridor", "appearance": null, "relation": [ [ true, "in", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom. There is/are 1 another light located near the light. There is/are a bottle located below the light.)\". The target location is on a shelf, and nearby a cabinet(This object is in corridor. There is/are a cabinet located in the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_04_6AEI5EUTDD52EIE3KE888888" ] } ], "bottle/model_fdda7f8e37cde39156b218f568160b87_0": [ { "instruction": "Pick the bottle from the study room and place it on the cabinet in the kitchen, which has a plant located above it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_29660d9a74210a101ab805e3da1d8be6_0", "category": "cabinet", "room": "3/kitchen", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_d42176c5fe4029f74677527b7af8e20e_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "above", "plant" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in study room.)\". The target location is on a cabinet(This object is in kitchen.), and nearby a cabinet( There is/are a plant located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_6DWOVKUTD5TGIKU6LQ888888" ] } ], "bottle/model_62dc021f98030f9d1cc059cbb246d054_0": [ { "instruction": "Pick the bottle in the kitchen, near the door and above the cabinet, and place it on the stool in the study room, nearby the curtain.", "condition": [ { "object_attribute": { "instance_id": "stool/model_363be1269d3ea1eeeb8ba8aaa615f73a_0", "category": "stool", "room": "7/study room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_9e90e3a8b5d1feb20c789b878dc5f957_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in kitchen. There is/are a door located near the bottle. There is/are a cabinet located under the bottle.)\". The target location is on a stool(This object is in study room.), and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_04_6D55TSMTD5TGEUJWLA888888", "bottle/SM_05_6D55TSMTD5TGEUJWLA888888" ] }, { "instruction": "Pick the bottle in the kitchen, which is near a door and above a cabinet, and place it in the bedroom near the tall, narrow cabinet and another cabinet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_19a0992e5f07a176608d27d168eccaea_0", "category": "cabinet", "room": "4/bedroom", "appearance": [ "It has a tall and narrow shape." ], "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_0bf8fcbd2bbc7755e5793bcd46d60521_0", "category": "cabinet", "room": "4/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in kitchen. There is/are a door located near the bottle. There is/are a cabinet located under the bottle.)\". The target location is nearby a cabinet(This object is in bedroom. There is/are a cabinet located near the object.It has a tall and narrow shape.), and nearby a cabinet(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_04_6D55TSMTD5TGEUJWLA888888", "bottle/SM_05_6D55TSMTD5TGEUJWLA888888" ] } ], "light/model_cdcb4f690605d1f4a4f91d3cafc3f135_0": [ { "instruction": "Pick the light from the bedroom, which is near a stool, and place it on the cabinet, which has clothes above it and nearby.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_d25b1eaa551dc87164ebc6fecefa5e20_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "above", "clothes" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "clothes/model_53af4cbe74151a44d72245811ad814a3_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom. There is/are a stool located near the light.)\". The target location is on a cabinet( There is/are a clothes located above the object.), and nearby a clothes.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_06_6CZCAHETDD522LB5KQ888888" ] }, { "instruction": "Pick the light in the bedroom, which is near a stool, and place it on the cabinet in the living room, which is above another object and near another cabinet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_a36e05ddc98cdcb31b8387309156571e_0", "category": "cabinet", "room": "6/living room", "appearance": null, "relation": [ [ true, "above", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_442535610c5f7cdf826acdc6765e9fd3_0", "category": "cabinet", "room": "6/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom. There is/are a stool located near the light.)\". The target location is on a cabinet(This object is in living room. There is/are a cabinet located above the object.), and nearby a cabinet(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_06_6CZCAHETDD522LB5KQ888888" ] } ], "basket/model_89f1b6294834d1730bd290538e073197_0": [ { "instruction": "Pick the basket and place it on the cabinet in the corridor, near the cabinet with a washing machine on it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_48f2a02ecd8c2ca0da7cf03310a7fe76_0", "category": "cabinet", "room": "8/corridor", "appearance": null, "relation": [ [ true, "on", "washingmachine" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_0ce144f7d988cb8b375fd331caead792_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is on a cabinet(This object is in corridor. There is/are a washingmachine located on the object.), and nearby a cabinet(nothing is below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6F35UC4TD5TGGPTULY888888" ] }, { "instruction": "Pick the basket and place it nearby the clothes and the shoe.", "condition": [ { "object_attribute": { "instance_id": "clothes/model_53af4cbe74151a44d72245811ad814a3_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_b417fa9adae24e758db3d7fd0f31f935_0", "category": "shoe", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a clothes, and nearby a shoe.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6F35UC4TD5TGGPTULY888888" ] } ], "bottle/model_3805cd7b74c73c5c9fdbabb41a413440_0": [ { "instruction": "Pick the bottle in the corridor and place it in the living room nearby the plant and the cabinet located below the plant.", "condition": [ { "object_attribute": { "instance_id": "plant/model_9ed3c5f0baf7b3c18815e131db8709c4_0", "category": "plant", "room": "6/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_09154833ce4e54b0b9a73e2eb5721649_0", "category": "cabinet", "room": "6/living room", "appearance": null, "relation": [ [ true, "below", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in corridor.)\". The target location is nearby a plant(This object is in living room.), and nearby a cabinet(This object is in living room. There is/are a cabinet located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZRXU3TJVAUTXCPTUKM888888" ] }, { "instruction": "Pick the bottle in the corridor and place it nearby the towel and the blanket, which is located on the object.", "condition": [ { "object_attribute": { "instance_id": "towel/model_3f1be707ae545ad323f8372a56d6547f_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_656e3ac64c64d27c3a5c4d27228ddbcc_0", "category": "blanket", "room": null, "appearance": null, "relation": [ [ true, "on", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in corridor.)\". The target location is nearby a towel, and nearby a blanket( There is/are a blanket located on the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZRXU3TJVAUTXCPTUKM888888" ] } ], "tray/model_b03dd56a46d9c85f0ee739c2a97a96b6_0": [ { "instruction": "Pick the tray located in the bedroom, which is held by another tray, and place it on the cabinet in the bedroom, which is under the object.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_f54498f152adc7faea9a7bee1bb3c0a1_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_5691884c9bfdff084834b5cc0990a68f_0", "category": "cabinet", "room": "4/bedroom", "appearance": null, "relation": [ [ true, "under", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. This object is in bedroom. There is/are 1 another tray located contain/hold the tray.)\". The target location is on a cabinet, and nearby a cabinet(This object is in bedroom. There is/are a cabinet located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_01_6KAIWCZVAVPLKPTUKU888888", "tray/SM_02_6KAIWCZVAVPLKPTUKU888888" ] }, { "instruction": "Pick the tray located in the bedroom, which is held by another tray, and place it nearby the white-finished cabinet that has another cabinet on it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_2a3b8659899989ef9540cf5d04015ed1_0", "category": "cabinet", "room": null, "appearance": [ "It has a white finish." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_37d2d404897fa2ae3492c3ca5bb403c6_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "on", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. This object is in bedroom. There is/are 1 another tray located contain/hold the tray.)\". The target location is nearby a cabinet(It has a white finish.), and nearby a cabinet( There is/are a cabinet located on the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_01_6KAIWCZVAVPLKPTUKU888888", "tray/SM_02_6KAIWCZVAVPLKPTUKU888888" ] } ], "tray/model_59fa394def7de3188e0901fbcc7c2b82_0": [ { "instruction": "Pick the tray from the study room and place it on the rectangular cabinet nearby.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_542a1af63b2a7fbb57b5afcf953ab89a_0", "category": "cabinet", "room": null, "appearance": [ "It has a rectangular shape." ], "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_475808e6907722a0034197b378d841b8_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. This object is in study room.)\". The target location is on a cabinet(It has a rectangular shape.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6DWOVKUTD5TGIKU6LQ888888" ] }, { "instruction": "Pick the tray from the study room and place it on the cabinet with a plant above it and near the cylindrical pan with a lid.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_d42176c5fe4029f74677527b7af8e20e_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "above", "plant" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pan/model_bd5636b5bb578a708ef9a529255051bb_0", "category": "pan", "room": null, "appearance": [ "The object is a cylindrical pan with a lid." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. This object is in study room.)\". The target location is on a cabinet( There is/are a plant located above the object.), and nearby a pan(The object is a cylindrical pan with a lid.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6DWOVKUTD5TGIKU6LQ888888" ] } ], "bottle/model_8706a0faaed0dbfdea138d3f173c0de7_0": [ { "instruction": "Pick the bottle in the bedroom and place it on the stool near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "stool/model_fe820be7a6ebabd64573835cc261864a_0", "category": "stool", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_7ad1ba177e11d6a85ef70e88aee6ecf6_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "stool" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is on a stool, and nearby a cabinet( There is/are a stool located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_08_6KAIWCZVAVPLKPTUKU888888" ] }, { "instruction": "Pick the bottle in the bedroom and place it on the cabinet in the kitchen near the door.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_29660d9a74210a101ab805e3da1d8be6_0", "category": "cabinet", "room": "3/kitchen", "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_72c6bb3de9a62e85fa40e3791a4dd959_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is on a cabinet(This object is in kitchen.nothing is below the object.), and nearby a cabinet( There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_08_6KAIWCZVAVPLKPTUKU888888" ] } ] }, "MVUHL5YKTKJ5EAABAAAAAAQ8_usd": { "cup/model_917e31288fb65b2626aad870ca34f72c_0": [ { "instruction": "Pick the cup, which has nothing above it, and place it nearby the trashcan and the table in the living room.", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_fb5f98c4e942d0b6eceed03807d0bd99_0", "category": "trashcan", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_ca73927300d6ba342beab019ce834d52_0", "category": "table", "room": "3/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. nothing is above the cup.)\". The target location is nearby a trashcan, and nearby a table(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_05_6ENRWWETD5TGK5CWKY888888" ] }, { "instruction": "Pick the cup, which has nothing above it, and place it in the balcony, nearby a table and a chair.", "condition": [ { "object_attribute": { "instance_id": "table/model_605ee7db3298ec30dd5c3d0ce0247281_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_b685f3c494c37f1e8892174e9840a0c8_0", "category": "chair", "room": "0/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. nothing is above the cup.)\". The target location is nearby a table, and nearby a chair(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_05_6ENRWWETD5TGK5CWKY888888" ] } ], "tray/model_e565eeebfeab4115300b0838230045b6_0": [ { "instruction": "Pick the tray and place it near the cabinet in the kitchen, where there is a coffee maker located below.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_7aaac12d9ce968f78a204bd5b168c801_0", "category": "cabinet", "room": "2/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_e29a46128e53d771b18dfbe3046b6247_0", "category": "cabinet", "room": "2/kitchen", "appearance": null, "relation": [ [ true, "below", "coffee_maker" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is nearby a cabinet(This object is in kitchen.), and nearby a cabinet(This object is in kitchen. There is/are a coffee_maker located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6ENRWWETD5TGK5CWKY888888" ] }, { "instruction": "Pick the tray from the cabinet and place it nearby the hearth and the bottle.", "condition": [ { "object_attribute": { "instance_id": "hearth/model_310b387f1033331e906f22f65c875518_0", "category": "hearth", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bottle/model_38d4fe8b45131b2b9ece960bf91c1ed7_0", "category": "bottle", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is nearby a hearth, and nearby a bottle( There is/are a cabinet located contain/hold the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6ENRWWETD5TGK5CWKY888888" ] } ], "bowl/model_2f49f86d24695f5b7f2c24f48362d7b1_0": [ { "instruction": "Pick the bowl, which has nothing above it, and place it on the chair in the dining room. There is a cabinet located near the chair.", "condition": [ { "object_attribute": { "instance_id": "chair/model_118e864d46d9bcd501ed24b08e77c15b_0", "category": "chair", "room": "4/dinning room", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_8f300686e3a02d97a46b94597e6057e2_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. nothing is above the bowl.)\". The target location is on a chair(This object is in dinning room. There is/are a cabinet located near the object.), and nearby a chair( There is/are a cabinet located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_00_6ENRWWETD5TGK5CWKY888888" ] }, { "instruction": "Pick the bowl. Place it in the study room near the chair with a curtain and near the decoration.", "condition": [ { "object_attribute": { "instance_id": "chair/model_95cff805f502de3d50ae53400698a9fa_0", "category": "chair", "room": "6/study room", "appearance": null, "relation": [ [ true, "near", "curtain" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_ac8a497138b667c45fcfe8c8aed137c4_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. nothing is above the bowl.)\". The target location is nearby a chair(This object is in study room. There is/are a curtain located near the object.), and nearby a decoration.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_00_6ENRWWETD5TGK5CWKY888888" ] } ], "plate/model_0f2ccec0d46e648ead4599129f6c402a_0": [ { "instruction": "Pick the plate, which has a bowl on it, and place it on the chair in the dining room, near another plate.", "condition": [ { "object_attribute": { "instance_id": "chair/model_506970e6b55a1173a1b2fde948cfa562_0", "category": "chair", "room": "4/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plate/model_142615710f0bb0758a9bb330575b85f0_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. nothing is contain/hold the plate. There is/are a bowl located on the plate. nothing is above the plate.)\". The target location is on a chair(This object is in dinning room.), and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_6ENRWWETD5TGK5CWKY888888", "plate/SM_01_6ENRWWETD5TGK5CWKY888888" ] }, { "instruction": "Pick the plate, which has a bowl on it, and place it on the table near the chair in the balcony.", "condition": [ { "object_attribute": { "instance_id": "table/model_605ee7db3298ec30dd5c3d0ce0247281_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_b685f3c494c37f1e8892174e9840a0c8_0", "category": "chair", "room": "0/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. nothing is contain/hold the plate. There is/are a bowl located on the plate. nothing is above the plate.)\". The target location is on a table, and nearby a chair(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_6ENRWWETD5TGK5CWKY888888", "plate/SM_01_6ENRWWETD5TGK5CWKY888888" ] } ] }, "MVUHLWYKTKJ5EAABAAAAAAI8_usd": { "pillow/model_28f9e51b2b9ff205b804a2551d77a79a_0": [ { "instruction": "Pick the pillow near the window and shoe, and place it on the desk in the balcony near the window.", "condition": [ { "object_attribute": { "instance_id": "desk/model_b64af8516144370ee9a0a56e19bff115_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "window/model_e931e0c57294a3862d528a3b03f41463_0", "category": "window", "room": "4/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow. There is/are a shoe located near the pillow.)\". The target location is on a desk, and nearby a window(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_ZQSUT3BVAUVLUPTUKM888888" ] }, { "instruction": "Pick the pillow near the window and shoe, and place it on the bed near the table and shoe.", "condition": [ { "object_attribute": { "instance_id": "bed/model_a52def2f16f2db0d67cbce0f374879e9_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_a7a45b59b3c45b7f6f26ed6f0a4c4de2_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "shoe" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow. There is/are a shoe located near the pillow.)\". The target location is on a bed( There is/are a table located near the object.), and nearby a pillow( There is/are a shoe located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_ZQSUT3BVAUVLUPTUKM888888" ] } ], "pan/model_403f970c60db6883c43f2db743334385_0": [ { "instruction": "Pick the pan with a domed lid and a small knob in the center for handling, and place it near the cabinet with a door located nearby, and near the shoe in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_609ba035867f832fb8c7e41954fee70f_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_12f73eb645ae875523e3a5079c0b5028_0", "category": "shoe", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan. The lid is domed with a small knob in the center for handling.)\". The target location is nearby a cabinet( There is/are a door located near the object.), and nearby a shoe(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWOFRVAJQXQPTULE888888", "pan/SM_02_ZEMWKPRVAJT3GPTULU888888" ] }, { "instruction": "Pick up the pan with a domed lid and a small knob in the center for handling, and place it on the shelf in the toilet near the curtain and the shoe.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_9cd9e42becaa4c985c8e735bcdab59b1_0", "category": "shelf", "room": "2/toilet", "appearance": null, "relation": [ [ true, "near", "curtain" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "shoe/model_989012c51b537866fba483c3cd5cb276_0", "category": "shoe", "room": null, "appearance": null, "relation": [ [ true, "near", "shelf" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan. The lid is domed with a small knob in the center for handling.)\". The target location is on a shelf(This object is in toilet. There is/are a curtain located near the object.), and nearby a shoe( There is/are a shelf located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWOFRVAJQXQPTULE888888", "pan/SM_02_ZEMWKPRVAJT3GPTULU888888" ] } ], "pot/model_528d08a405ad5bd289e16a9409c5d687_0": [ { "instruction": "Pick the pot and place it on the tvstand near the plain-sided cabinet.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_376dd16b9844b5af20d3f7693b06caa4_0", "category": "tvstand", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_8dc96782789fa71e03fc77ae15dc1ac7_0", "category": "cabinet", "room": null, "appearance": [ "The cabinet's sides are plain." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a tvstand, and nearby a cabinet(The cabinet's sides are plain.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWOFRVAJQXQPTUKU888888" ] }, { "instruction": "Pick the pot and place it near the sofa chair in the living room, close to the table.", "condition": [ { "object_attribute": { "instance_id": "sofa_chair/model_847b2b436a123c8dd19dc6bcadc310cb_0", "category": "sofa_chair", "room": "7/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_bbdaa605fbaf8f07425f55dd5d0748f8_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a sofa_chair(This object is in living room.), and nearby a table.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWOFRVAJQXQPTUKU888888" ] } ], "basket/model_542bba53bbbeff0f80642dcf96aa012e_0": [ { "instruction": "Pick the basket and place it near the curtain in the dining room, close to the refrigerator.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_fc8b260fbf5a5a4cde142820613666f6_0", "category": "curtain", "room": "3/dinning room", "appearance": null, "relation": [ [ true, "near", "refrigerator" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "refrigerator/model_ba8777794e2bfd9f220949da89f9fa61_0", "category": "refrigerator", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a curtain(This object is in dinning room. There is/are a refrigerator located near the object.), and nearby a refrigerator.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6PY52XBVAV6OSPTUKQ888888" ] }, { "instruction": "Pick the basket and place it on the washing machine near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "washingmachine/model_4a0cfe2597342205229af0f622944d09_0", "category": "washingmachine", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_f22288a9fff3f9dbf826939eec15e154_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is on a washingmachine, and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6PY52XBVAV6OSPTUKQ888888" ] } ] }, "MVUHLWYKTKJ5EAABAAAAAAQ8_usd": { "bottle/model_c4ef85002fb438f7008af66749f19d96_0": [ { "instruction": "Pick the bottle, which is in the living room near a book, and place it on the bed in the bedroom near a light and a curtain.", "condition": [ { "object_attribute": { "instance_id": "bed/model_2cc4aa272aca4754d9b771caf84be2e1_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_9f28902d8a39c121dd4fd031c8bd50eb_0", "category": "curtain", "room": "5/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are a book located near the bottle.)\". The target location is on a bed( There is/are a light located near the object.), and nearby a curtain(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_03_ZV57SMZVAIICYPTUJQ888888" ] }, { "instruction": "Pick the bottle, which is in the living room near a book, and place it on the table in the living room near a stool and a chair.", "condition": [ { "object_attribute": { "instance_id": "table/model_6e92010730df95e5c5185aac1de812f1_0", "category": "table", "room": "2/living room", "appearance": null, "relation": [ [ true, "near", "stool" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_1637b15698a0d4093fc33a1b8e0397a3_0", "category": "chair", "room": "2/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are a book located near the bottle.)\". The target location is on a table(This object is in living room. There is/are a stool located near the object.), and nearby a chair(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_03_ZV57SMZVAIICYPTUJQ888888" ] } ], "plate/model_09dc47f8bef79615a143172016f52ae7_0": [ { "instruction": "Pick the plate and place it on the table near the pot and the pillow.", "condition": [ { "object_attribute": { "instance_id": "pot/model_440538981939de289db7a89fbc9e6945_0", "category": "pot", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_15b994b7b567e2293f46ac4660832a73_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate.)\". The target location is nearby a pot, and nearby a pillow( There is/are a table located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_ZU5G4DZVAUFHKPTULE888888" ] }, { "instruction": "Pick the plate and place it in the kitchen, nearby a decoration.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_4742b7f05eac031eb1f4548b8089c215_0", "category": "decoration", "room": "0/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_08c5922ecb61bfbff553d2eb66170f4e_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate.)\". The target location is nearby a decoration(This object is in kitchen.), and nearby a decoration.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_ZU5G4DZVAUFHKPTULE888888" ] } ], "bottle/model_ee23cc99515238c65eb5ea1193012e45_0": [ { "instruction": "Pick the bottle in the living room, which has one bottle near it and one below it, and place it on the table in the living room, nearby the couch.", "condition": [ { "object_attribute": { "instance_id": "table/model_043ac71ee51403f6a3825eec07c655ef_0", "category": "table", "room": "2/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "couch/model_27fe30e6c7265088f68d9eeca65866de_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are 1 another bottle located near the bottle. There is/are 1 another bottle located below the bottle.)\". The target location is on a table(This object is in living room.), and nearby a couch.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_03_ZU5G4DZVAUFHKPTULE888888" ] }, { "instruction": "Pick the bottle in the living room, which has another bottle nearby and one below it, and place it on the desk near the decoration, which is close to a door.", "condition": [ { "object_attribute": { "instance_id": "desk/model_bc1367271a2b6e0ee64f1eebf15708fc_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_ea90fd22997ee90d129061868c79a151_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in living room. There is/are 1 another bottle located near the bottle. There is/are 1 another bottle located below the bottle.)\". The target location is on a desk, and nearby a decoration( There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_03_ZU5G4DZVAUFHKPTULE888888" ] } ], "cup/model_e4092d9a2c17f8eb612e4651981430c0_0": [ { "instruction": "Pick the cup from the desk and place it on the chair near the door.", "condition": [ { "object_attribute": { "instance_id": "chair/model_da8d7619c811384e6dd57b1a7613c7d3_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "door/model_c19011b690b02baae0e3ff6101392f95_0", "category": "door", "room": null, "appearance": null, "relation": [ [ true, "near", "desk" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is on a chair, and nearby a door( There is/are a desk located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_ZEN3BTRVAIIAUPTUJU888888" ] }, { "instruction": "Pick the cup and place it on the chair near the desk. There is a door located near the object.", "condition": [ { "object_attribute": { "instance_id": "chair/model_da8d7619c811384e6dd57b1a7613c7d3_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "desk/model_bc1367271a2b6e0ee64f1eebf15708fc_0", "category": "desk", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is on a chair( There is/are a door located near the object.), and nearby a desk( There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_ZEN3BTRVAIIAUPTUJU888888" ] } ], "laptop/model_e275d8aefb34154aba3ca97581fbfa1b_0": [ { "instruction": "Pick the laptop and place it near the chair in the dining room, where there is a microwave nearby.", "condition": [ { "object_attribute": { "instance_id": "chair/model_bfd1a1cfe37a3ce8cac7a903ab7e98a4_0", "category": "chair", "room": "1/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_0309f6c95953bac7ee92ff2de7c1097b_0", "category": "chair", "room": "1/dinning room", "appearance": null, "relation": [ [ true, "near", "microwave" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is nearby a chair(This object is in dinning room.), and nearby a chair(This object is in dinning room. There is/are a microwave located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZEO6STJVAI3Y2PTULM888888" ] }, { "instruction": "Pick the laptop and place it near the picture and the blanket.", "condition": [ { "object_attribute": { "instance_id": "picture/model_ac9778f012cb1a2549df8199e16acfff_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_7ba65ae6d1f003f82a5835ced4212581_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is nearby a picture, and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZEO6STJVAI3Y2PTULM888888" ] } ], "picture/model_ac9778f012cb1a2549df8199e16acfff_0": [ { "instruction": "Pick the picture in the living room and place it in the bedroom nearby the light and the pillow.", "condition": [ { "object_attribute": { "instance_id": "light/model_a2ec801e2a0048edb004e80f40179ee6_0", "category": "light", "room": "5/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_8e8d747d2f22d8cd1ea757f6e0896c87_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in living room.)\". The target location is nearby a light(This object is in bedroom.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_SOOZWQOO7PRR6IREKA888888" ] }, { "instruction": "Pick the picture in the living room and place it near the cabinet and the monitor.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_38901ef597e72813e3b1d9775040f5e4_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "monitor" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "monitor/model_86ab0189cfc382ae61b2bdc854ff5d60_0", "category": "monitor", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in living room.)\". The target location is nearby a cabinet( There is/are a monitor located near the object.), and nearby a monitor.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_SOOZWQOO7PRR6IREKA888888" ] } ], "keyboard/model_c7dfb9a927669cebd59146ca6948ed03_0": [ { "instruction": "Pick the keyboard. Place it near the plant and the bottle in the bedroom, where there is a bookshelf containing the object.", "condition": [ { "object_attribute": { "instance_id": "plant/model_d24b1fb3dff5d3a439622ee3a701a8c5_0", "category": "plant", "room": null, "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bottle/model_2403d795de6c462521baceae3569c17b_0", "category": "bottle", "room": "6/bedroom", "appearance": null, "relation": [ [ true, "contain/hold", "bookshelf" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is keyboard(This object is a keyboard.)\". The target location is nearby a plant( There is/are a plant located near the object.), and nearby a bottle(This object is in bedroom. There is/are a bookshelf located contain/hold the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "keyboard/SM_01_ZEMOJJRVAIIAUPTUKY888888" ] }, { "instruction": "Pick the keyboard and place it near the curtain in the bedroom, close to the bed where there is a light.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_9f28902d8a39c121dd4fd031c8bd50eb_0", "category": "curtain", "room": "5/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_2cc4aa272aca4754d9b771caf84be2e1_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is keyboard(This object is a keyboard.)\". The target location is nearby a curtain(This object is in bedroom.), and nearby a bed( There is/are a light located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "keyboard/SM_01_ZEMOJJRVAIIAUPTUKY888888" ] } ] }, "MVUHLWYKTKJ5EAABAAAAAAA8_usd": { "picture/model_859a4b01eef366399b496b51c51402d6_0": [ { "instruction": "Pick the picture in the dining room and place it near the chair and the plant, where there are already pictures located.", "condition": [ { "object_attribute": { "instance_id": "chair/model_765cb897ab4769cb82c5840365a801bf_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_45a9adb23490353dea24963b3326662b_0", "category": "plant", "room": "10/dinning room", "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in dinning room.)\". The target location is nearby a chair( There is/are a picture located near the object.), and nearby a plant(This object is in dinning room. There is/are a picture located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_00_6LNBDKZVAVFYCPTULA888888" ] }, { "instruction": "Pick the picture in the dining room and place it near the cabinet and door in the cloakroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_96120fb746eee90ce0cb9ee2612d5c28_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_38231c08e622b490f56e93c5f6fb3291_0", "category": "door", "room": "1/cloakroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in dinning room.)\". The target location is nearby a cabinet, and nearby a door(This object is in cloakroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_00_6LNBDKZVAVFYCPTULA888888" ] } ], "plate/model_6d870adb2ef2098d957e04a95e86ebef_0": [ { "instruction": "Pick the plate located in the living room, which has another plate on it, and place it nearby a pillow.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_eaaead12849cd09ee68efc9747ce8b7b_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. This object is in living room. There is/are 1 another plate located in the plate.)\". The target location is nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_03_6DZGU4UTD5TGMFLFKI888888", "plate/SM_04_6DZGU4UTD5TGMFLFKI888888" ] }, { "instruction": "Pick the plate from the living room, where there is another plate, and place it in the bedroom near the light and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "light/model_82d145675bf90786d1ffba4d556797ac_0", "category": "light", "room": "6/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_aa575b4d75a097fdb38140f75b5a0ce2_0", "category": "cabinet", "room": "6/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. This object is in living room. There is/are 1 another plate located in the plate.)\". The target location is nearby a light(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a cabinet(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_03_6DZGU4UTD5TGMFLFKI888888", "plate/SM_04_6DZGU4UTD5TGMFLFKI888888" ] } ], "pillow/model_36715132cd8dd10cb43d30e4e45da735_0": [ { "instruction": "Pick the pillow from the bed, which has a picture above it, a picture and a lamp nearby, and place it on the chair in the dining room, which has a book nearby and a bottle above it.", "condition": [ { "object_attribute": { "instance_id": "chair/model_45ff342d0e47f02cada82759f762fe95_0", "category": "chair", "room": "10/dinning room", "appearance": null, "relation": [ [ true, "near", "book" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_950bb0c83ff93626f98a675907b323c4_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "above", "bottle" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a picture located near the pillow. There is/are a lamp located near the pillow. There is/are a bed located contain/hold the pillow. There is/are a picture located above the pillow.)\". The target location is on a chair(This object is in dinning room. There is/are a book located near the object.), and nearby a decoration( There is/are a bottle located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6DZGROUTD5TGOYRTKI888888", "pillow/SM_05_6DZGROUTD5TGOYRTKI888888", "pillow/SM_06_6DZGROUTD5TGOYRTKI888888" ] }, { "instruction": "Pick the pillow from the bed, which has a picture above it, a lamp nearby, and another picture nearby. Place the pillow near the bottle, which has a decoration below it, and near the decoration, which has a tray below it.", "condition": [ { "object_attribute": { "instance_id": "bottle/model_a2f041322a1b012cbd3585533cf7f333_0", "category": "bottle", "room": null, "appearance": null, "relation": [ [ true, "below", "decoration" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_0751d644a891fcbeddb1289beda96e62_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "below", "tray" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a picture located near the pillow. There is/are a lamp located near the pillow. There is/are a bed located contain/hold the pillow. There is/are a picture located above the pillow.)\". The target location is nearby a bottle( There is/are a decoration located below the object.), and nearby a decoration( There is/are a tray located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6DZGROUTD5TGOYRTKI888888", "pillow/SM_05_6DZGROUTD5TGOYRTKI888888", "pillow/SM_06_6DZGROUTD5TGOYRTKI888888" ] } ], "bottle/model_c0e1732d48e21c558221d034e2bedd01_0": [ { "instruction": "Pick the bottle, which is near a tray and a book, and place it on the cabinet in the kitchen.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_6241dc04aca71e263e15b7d1a9c439ed_0", "category": "cabinet", "room": "8/kitchen", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_0584cf9ae0497d4f04918a1058b05e96_0", "category": "cabinet", "room": "8/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. There is/are a tray located near the bottle. There is/are a book located near the bottle. There is/are a book located below the bottle.)\". The target location is on a cabinet(This object is in kitchen.), and nearby a cabinet(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_03_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_04_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_05_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_06_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_07_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_08_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_09_6M5LDDBVAVKNOPTUL4888888" ] }, { "instruction": "Pick the bottle located near a tray and a book, and place it near the TV and TV stand.", "condition": [ { "object_attribute": { "instance_id": "tv/model_83de11a4209204cb93f40a02aee8a29c_0", "category": "tv", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "tvstand/model_235695996992de5ea965ed5122f19ff8_0", "category": "tvstand", "room": null, "appearance": null, "relation": [ [ true, "near", "tv" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. There is/are a tray located near the bottle. There is/are a book located near the bottle. There is/are a book located below the bottle.)\". The target location is nearby a tv, and nearby a tvstand( There is/are a tv located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_03_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_04_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_05_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_06_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_07_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_08_6M5LDDBVAVKNOPTUL4888888", "bottle/SM_09_6M5LDDBVAVKNOPTUL4888888" ] } ], "pot/model_9bd6562a611a853d71e881bfa1dc4f55_0": [ { "instruction": "Pick the pot from the dining room and place it nearby the pillow and the blanket.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_0b1e706725c644970bf0892ebf4bcec5_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_23805f08ed037f9cb01e54262fc6b84f_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in dinning room.)\". The target location is nearby a pillow, and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_6LNBDKZVAVFYCPTULA888888" ] }, { "instruction": "Pick the pot from the dining room and place it in the kitchen near the faucet and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "faucet/model_f3fd03a28b57dae3b7a5d65e525f0dd8_0", "category": "faucet", "room": "8/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_37cfc6e575f3358b95af84d6bd8a0c49_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in dinning room.)\". The target location is nearby a faucet(This object is in kitchen.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_6LNBDKZVAVFYCPTULA888888" ] } ], "pillow/model_2bfcf145ad827da5917cca327a4c5459_0": [ { "instruction": "Pick the pillow, which has a toy nearby, and place it near the decoration and the curtain.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_8750571b7f6aedf1aa354efe61c68bf2_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_79f57150ea54ec86a38681672240e591_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a toy located near the pillow.)\". The target location is nearby a decoration, and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_12_6MP4F2ZVAVZVWPTUKA888888", "pillow/SM_13_6MP4F2ZVAVZVWPTUKA888888" ] }, { "instruction": "Pick the pillow, which has a toy nearby, and place it on the cabinet in the toilet, near the toilet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_99acc87acd353e50fc6a4be6ed0edfc9_0", "category": "cabinet", "room": "2/toilet", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "toilet/model_c26a3c2a2a545d3b780eaefff1dcac05_0", "category": "toilet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a toy located near the pillow.)\". The target location is on a cabinet(This object is in toilet.), and nearby a toilet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_12_6MP4F2ZVAVZVWPTUKA888888", "pillow/SM_13_6MP4F2ZVAVZVWPTUKA888888" ] } ], "plate/model_7375981394ee011346495bdca0bdd821_0": [ { "instruction": "Pick the plate in the dining room near the book and place it near the pillow and the toy, close to the bed.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_97f39ec17436c40f5a46ccec0b65c4cb_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "toy" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_18ca2fef7b0895c39d9084f0540db775_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. This object is in dinning room. There is/are a book located near the plate.)\". The target location is nearby a pillow( There is/are a toy located near the object.), and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_05_6M5LDDBVAVKNOPTUL4888888" ] }, { "instruction": "Pick the plate in the dining room, which is near a book, and place it near the pillow and the toy.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_2bfcf145ad827da5917cca327a4c5459_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toy/model_d02ad90822afdcdadaa94959621f6f21_0", "category": "toy", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. This object is in dinning room. There is/are a book located near the plate.)\". The target location is nearby a pillow, and nearby a toy.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_05_6M5LDDBVAVKNOPTUL4888888" ] } ], "tray/model_b0004f886b4ba70c57695724f240ddb7_0": [ { "instruction": "Pick the tray, which has a decoration in it and is near a book, and place it near a decoration and a plate.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_b3fe57ffc3c5d5f297994b425834d209_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plate/model_15f0edf4972758dcb6ba0987eb645182_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. There is/are a book located near the tray. There is/are a decoration located in the tray.)\". The target location is nearby a decoration, and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_01_6M5LDDBVAVKNOPTUL4888888", "tray/SM_02_6M5LDDBVAVKNOPTUL4888888" ] }, { "instruction": "Pick the tray, which has a decoration in it and a book nearby, and place it near the shelf and the cup in the dining room.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_52479d82c087f9879dc1437a508bf0fc_0", "category": "shelf", "room": "10/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_f493d1872ff51850490897c568ecde78_0", "category": "cup", "room": "10/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. There is/are a book located near the tray. There is/are a decoration located in the tray.)\". The target location is nearby a shelf(This object is in dinning room.), and nearby a cup(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_01_6M5LDDBVAVKNOPTUL4888888", "tray/SM_02_6M5LDDBVAVKNOPTUL4888888" ] } ], "cup/model_0dd86abdfe1b3c2882d79f185674c088_0": [ { "instruction": "Pick the cup in the living room and place it on the chair near the book and the bottle above it.", "condition": [ { "object_attribute": { "instance_id": "chair/model_45ff342d0e47f02cada82759f762fe95_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "book" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cup/model_bd75238bfaf085dbfd47d628e056b3f4_0", "category": "cup", "room": null, "appearance": null, "relation": [ [ true, "above", "bottle" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in living room.)\". The target location is on a chair( There is/are a book located near the object.), and nearby a cup( There is/are a bottle located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_03_6DZGU4UTD5TGMFLFKI888888" ] }, { "instruction": "Pick the cup in the living room and place it on the chair nearby the pillow.", "condition": [ { "object_attribute": { "instance_id": "chair/model_2ad3040c9ee51fe62e622862b36a3936_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_2b13d8c5ee0d80f43863eaa2226feb9f_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in living room.)\". The target location is on a chair, and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_03_6DZGU4UTD5TGMFLFKI888888" ] } ], "bottle/model_55ced24594c88bee9bbc45eb1dea2388_0": [ { "instruction": "Pick the bottle with a picture near it and place it in the bedroom near the blanket with a book and a pillow.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_7df48987023557d93dbd67453fa153f8_0", "category": "blanket", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "book" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_b6d3cb44792eafe4188c06c168c73b74_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. There is/are a picture located near the bottle.)\". The target location is nearby a blanket(This object is in bedroom. There is/are a book located near the object.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6LNBDKZVAVFYCPTULA888888" ] }, { "instruction": "Pick the bottle with a picture near it and place it on the dishwasher, nearby the cabinet.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_63971084faeeaa8bd801ce9ccc628b52_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_676690725d3c94d6bc5748cae18150f0_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. There is/are a picture located near the bottle.)\". The target location is on a dishwasher, and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6LNBDKZVAVFYCPTULA888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAADQ8_usd": { "pot/model_1720827a02cc68eb54fdddf5bac62de0_0": [ { "instruction": "Pick the pot in the bedroom and place it near the chair and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "chair/model_929933e8e5f7c6cdb75a3e8ceadb0da4_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_99adc4b1a5378edaf06d19ef877f7179_0", "category": "cabinet", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "near", "chair" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a chair, and nearby a cabinet(This object is in bedroom. There is/are a chair located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWK4BVAIHQ4PTULU888888" ] }, { "instruction": "Pick the pot and place it near the couch, close to the window and the backpack.", "condition": [ { "object_attribute": { "instance_id": "couch/model_7849af8038241a71671e1416742fdcdd_0", "category": "couch", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "backpack/model_cca7af564729667d0c9ee986cbfe8ab1_0", "category": "backpack", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a couch( There is/are a window located near the object.), and nearby a backpack.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWK4BVAIHQ4PTULU888888" ] } ], "picture/model_8c25b83e8d53f850586ef5be43a87be3_0": [ { "instruction": "Pick the picture in the bedroom and place it near the dishwasher and the pan, where there is an electric cooker nearby.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_746eb97860277ebca7be89e55e7319cb_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pan/model_2101b39b31e177e3271679c905a18f4b_0", "category": "pan", "room": null, "appearance": null, "relation": [ [ true, "near", "electriccooker" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom.)\". The target location is nearby a dishwasher, and nearby a pan( There is/are a electriccooker located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_02_Z7GR3KZVAJJR6PTUKY888888" ] }, { "instruction": "Pick the picture in the bedroom and place it in the living room nearby the cup and the trashcan.", "condition": [ { "object_attribute": { "instance_id": "cup/model_e8a9e8c0ea6488ff3e01b5f9e69ce5b5_0", "category": "cup", "room": "4/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "trashcan/model_12da1a02afc022053ddb8c920f65247d_0", "category": "trashcan", "room": "4/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom.)\". The target location is nearby a cup(This object is in living room.), and nearby a trashcan(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_02_Z7GR3KZVAJJR6PTUKY888888" ] } ], "plate/model_cc9b6e6423eb9e97d24c27fa71c80e49_0": [ { "instruction": "Pick the plate, which is near a pan, and place it near the faucet and the cabinet in the corridor. There is nothing above the target location.", "condition": [ { "object_attribute": { "instance_id": "faucet/model_56e10750a75646b4be84ea3e9c44ff84_0", "category": "faucet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_90bd496368cdde6e487d5a690f6e5e53_0", "category": "cabinet", "room": "6/corridor", "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a pan located near the plate.)\". The target location is nearby a faucet, and nearby a cabinet(This object is in corridor.nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_6N4LKQZVAUTXWPTULQ888888", "plate/SM_01_6N4LKQZVAUTXWPTULQ888888", "plate/SM_02_6N4LKQZVAUTXWPTULQ888888", "plate/SM_03_6N4LKQZVAUTXWPTULQ888888", "plate/SM_04_6N4LKQZVAUTXWPTULQ888888", "plate/SM_05_6N4LKQZVAUTXWPTULQ888888", "plate/SM_06_6N4LKQZVAUTXWPTULQ888888" ] }, { "instruction": "Pick the plate located near the pan and place it near the cabinet in the corridor, which is also near the door with a metallic threshold at the bottom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_8ba1e86a4173bffdb423583fd9523791_0", "category": "cabinet", "room": "6/corridor", "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_0c14861ca71b5c50e14aefef5cc75cd7_0", "category": "door", "room": null, "appearance": [ "There is a metallic threshold at the bottom of the door." ], "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a pan located near the plate.)\". The target location is nearby a cabinet(This object is in corridor.nothing is below the object.), and nearby a door( There is/are a cabinet located near the object.There is a metallic threshold at the bottom of the door.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_6N4LKQZVAUTXWPTULQ888888", "plate/SM_01_6N4LKQZVAUTXWPTULQ888888", "plate/SM_02_6N4LKQZVAUTXWPTULQ888888", "plate/SM_03_6N4LKQZVAUTXWPTULQ888888", "plate/SM_04_6N4LKQZVAUTXWPTULQ888888", "plate/SM_05_6N4LKQZVAUTXWPTULQ888888", "plate/SM_06_6N4LKQZVAUTXWPTULQ888888" ] } ], "light/model_dc8d3a5679b9b40129812b69acf3a6da_0": [ { "instruction": "Pick up the light near the cabinet and place it on the chair in the living room, nearby another light.", "condition": [ { "object_attribute": { "instance_id": "chair/model_3eef54afa9ea39800798c39d2019a276_0", "category": "chair", "room": "4/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "light/model_dc8d3a5679b9b40129812b69acf3a6da_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. There is/are a cabinet located near the light.)\". The target location is on a chair(This object is in living room.), and nearby a light.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_ZV2GQ5JVAIJASPTUKA888888" ] }, { "instruction": "Pick the light located near the cabinet and place it in the bedroom near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_a754fb0df6038962e430a3053f507df3_0", "category": "cabinet", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_f6eba91782f7775a8ec4a669c5ca3c02_0", "category": "cabinet", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. There is/are a cabinet located near the light.)\". The target location is nearby a cabinet(This object is in bedroom.), and nearby a cabinet(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_ZV2GQ5JVAIJASPTUKA888888" ] } ], "pillow/model_55e759fb4a0acf85f1e0016627c2c276_0": [ { "instruction": "Pick the pillow from the bedroom near the desk and place it in the kitchen near the towel and window.", "condition": [ { "object_attribute": { "instance_id": "towel/model_f624b8865101d3732520c6bd6084afb6_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_51b4a1b63fedfb3bc5bcabdb17163212_0", "category": "window", "room": "2/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a desk located near the pillow.)\". The target location is nearby a towel, and nearby a window(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_14_6DWAIH4TD5TGCZG2LI888888", "pillow/SM_19_6DWAIH4TD5TGCZG2LI888888" ] }, { "instruction": "Pick the pillow from the bedroom near the desk and place it in the kitchen near the bottle and towel.", "condition": [ { "object_attribute": { "instance_id": "bottle/model_48464689a5a6b97bd8a46302cdd1c687_0", "category": "bottle", "room": "2/kitchen", "appearance": null, "relation": [ [ true, "above", "bottle" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_f624b8865101d3732520c6bd6084afb6_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a desk located near the pillow.)\". The target location is nearby a bottle(This object is in kitchen. There is/are a bottle located above the object.), and nearby a towel.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_14_6DWAIH4TD5TGCZG2LI888888", "pillow/SM_19_6DWAIH4TD5TGCZG2LI888888" ] } ], "pan/model_982df693580bfa5b77dc942985264037_0": [ { "instruction": "Pick the pan from the shelf and place it near the bottle and the faucet in the kitchen.", "condition": [ { "object_attribute": { "instance_id": "bottle/model_15cfcc3dcbbc2a81263f61948a732997_0", "category": "bottle", "room": "2/kitchen", "appearance": null, "relation": [ [ true, "below", "bottle" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "faucet/model_68853617b0b82985698118b4b7936c2e_0", "category": "faucet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan. There is/are a shelf located near the pan.)\". The target location is nearby a bottle(This object is in kitchen. There is/are a bottle located below the object.), and nearby a faucet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWDTZVAI3YYPTUKA888888", "pan/SM_02_ZEMWOFRVAJQXQPTULI888888" ] }, { "instruction": "Pick the pan from the shelf and place it near the clothes.", "condition": [ { "object_attribute": { "instance_id": "clothes/model_635ee6ed4fb19539fb03352921ba90e9_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "clothes/model_03babec6de12ba6955943d8700cb2bc5_0", "category": "clothes", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan. There is/are a shelf located near the pan.)\". The target location is nearby a clothes, and nearby a clothes.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWDTZVAI3YYPTUKA888888", "pan/SM_02_ZEMWOFRVAJQXQPTULI888888" ] } ], "pillow/model_934299b6ee4f3ce4d72858c0f0659365_0": [ { "instruction": "Pick the pillow in the living room near the light and place it on the stool with nothing under it, which is near a blanket.", "condition": [ { "object_attribute": { "instance_id": "stool/model_69e27aee25ac30acbaf07d2020c4156c_0", "category": "stool", "room": null, "appearance": null, "relation": [ [ true, "under", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "stool/model_47747c97d4d43f37d6b17383d821e71c_0", "category": "stool", "room": null, "appearance": null, "relation": [ [ true, "under", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. There is/are a light located near the pillow.)\". The target location is on a stool(nothing is under the object.), and nearby a stool( There is/are a blanket located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_09_67N5UE4TDZTWOBA5LE888888", "pillow/SM_10_67N5UE4TDZTWOBA5LE888888" ] }, { "instruction": "Pick the pillow, which is in the living room near a light, and place it on the chair in the living room, which is near a trashcan.", "condition": [ { "object_attribute": { "instance_id": "chair/model_3eef54afa9ea39800798c39d2019a276_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "trashcan" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_67661eb523fcdba51ad8f50843921a40_0", "category": "chair", "room": "4/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. There is/are a light located near the pillow.)\". The target location is on a chair( There is/are a trashcan located near the object.), and nearby a chair(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_09_67N5UE4TDZTWOBA5LE888888", "pillow/SM_10_67N5UE4TDZTWOBA5LE888888" ] } ], "backpack/model_cca7af564729667d0c9ee986cbfe8ab1_0": [ { "instruction": "Pick the backpack and place it near the pan on the shelf, close to the plate.", "condition": [ { "object_attribute": { "instance_id": "pan/model_982df693580bfa5b77dc942985264037_0", "category": "pan", "room": null, "appearance": null, "relation": [ [ true, "near", "shelf" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plate/model_cc9b6e6423eb9e97d24c27fa71c80e49_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack.)\". The target location is nearby a pan( There is/are a shelf located near the object.), and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6K74IXRVAVGX2PTUJU888888" ] }, { "instruction": "Pick the backpack (This object is a backpack.) and place it nearby the trashcan and the towel (These objects are in the bathroom.).", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_a27b5c3403097a659750830671d5cc2e_0", "category": "trashcan", "room": "1/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_6d729130c216d71add8fb81b1ad39734_0", "category": "towel", "room": "1/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack.)\". The target location is nearby a trashcan(This object is in bathroom.), and nearby a towel(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6K74IXRVAVGX2PTUJU888888" ] } ], "pillow/model_75a95770156b642bcf4138a1706c4de2_0": [ { "instruction": "Pick the pillow, which is in the bedroom near a plant with nothing above it, and place it nearby the blanket in the bedroom with nothing on it.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_7ab536a89f2ee98f04544195f37b2568_0", "category": "blanket", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_8f2076fb38981f1a71ceb45e53a8de85_0", "category": "blanket", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a plant located near the pillow. nothing is above the pillow.)\". The target location is nearby a blanket(This object is in bedroom.nothing is on the object.), and nearby a blanket(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_SO5FZ6OO7DXBU3GIKI888888", "pillow/SM_05_SO5FZ6OO7DXBU3GIKI888888", "pillow/SM_06_SO5FZ6OO7DXBU3GIKI888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a plant and has nothing above it, and place it in the living room near the couch, which is by a window, and near the blanket.", "condition": [ { "object_attribute": { "instance_id": "couch/model_7849af8038241a71671e1416742fdcdd_0", "category": "couch", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_d0575ed8fb94727df7ced973b3cae9cc_0", "category": "blanket", "room": "3/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a plant located near the pillow. nothing is above the pillow.)\". The target location is nearby a couch( There is/are a window located near the object.), and nearby a blanket(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_SO5FZ6OO7DXBU3GIKI888888", "pillow/SM_05_SO5FZ6OO7DXBU3GIKI888888", "pillow/SM_06_SO5FZ6OO7DXBU3GIKI888888" ] } ], "picture/model_0c21946875aae8e048ed96ba235b2e39_0": [ { "instruction": "Pick the picture in the corridor and place it on the table near the pillow.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_11237e68347d6ffbeafb8242937638f4_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_669a7ef469cb1fc2c39b3dde69472ead_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in corridor.)\". The target location is nearby a pillow, and nearby a pillow( There is/are a table located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6HRDSNJVAZWBEPTUKU888888" ] }, { "instruction": "Pick the picture from the corridor and place it near the cabinet in the living room, which is near a window.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_9e5b7ce12a0e87590980a9c4b458114a_0", "category": "cabinet", "room": "3/living room", "appearance": null, "relation": [ [ true, "in", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_e3a719d21be5b76eedd1e29ca9aa7c06_0", "category": "cabinet", "room": "3/living room", "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in corridor.)\". The target location is nearby a cabinet(This object is in living room.nothing is in the object.), and nearby a cabinet(This object is in living room. There is/are a window located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6HRDSNJVAZWBEPTUKU888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAACQ8_usd": { "plate/model_72cd3af3ef05414cf598bb7897689e6d_0": [ { "instruction": "Pick the plate from the shelf and place it on the desk near the plant and cabinet.", "condition": [ { "object_attribute": { "instance_id": "desk/model_f77def13cc7842e5caa7eed2f0f7e3e5_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_725bf9e9ef5f68afaca346cce768198e_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a shelf located near the plate.)\". The target location is on a desk, and nearby a cabinet( There is/are a plant located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_06_6PRE6SJVAUQGKPTUKA888888", "plate/SM_07_6PRE6SJVAUQGKPTUKA888888" ] }, { "instruction": "Pick the plate from the shelf and place it near the dishwasher and the window.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_78e18cbac6b77ee70fe7f4bc4a845cc6_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_7755cc7e73c4d3f209d483d06b038583_0", "category": "window", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a shelf located near the plate.)\". The target location is nearby a dishwasher, and nearby a window.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_06_6PRE6SJVAUQGKPTUKA888888", "plate/SM_07_6PRE6SJVAUQGKPTUKA888888" ] } ], "cup/model_5fba250bf4eaff839ba659fbc424487a_0": [ { "instruction": "Pick the cup from the dining room, which is on a tray and a table, and place it on the sofa chair in the bedroom, nearby a table.", "condition": [ { "object_attribute": { "instance_id": "sofa_chair/model_3600b93fe4d8672f4f5163071c39427b_0", "category": "sofa_chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "table/model_c5375c47e5c7c338c9d47470267b5ab6_0", "category": "table", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room. There is/are a tray located under the cup. There is/are a table located under the cup.)\". The target location is on a sofa_chair, and nearby a table(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_05_6PRE6SJVAUQGKPTUKA888888" ] }, { "instruction": "Pick the cup from the dining room, which is on a tray on the table, and place it on the bed in the bedroom, near the bottle and the desk with a stool nearby.", "condition": [ { "object_attribute": { "instance_id": "bed/model_091cfe0ba7902d2927f36d833b9435be_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "bottle" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "desk/model_4983fc043ca1bcb05819fb7786d9157d_0", "category": "desk", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "near", "stool" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room. There is/are a tray located under the cup. There is/are a table located under the cup.)\". The target location is on a bed( There is/are a bottle located near the object.), and nearby a desk(This object is in bedroom. There is/are a stool located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_05_6PRE6SJVAUQGKPTUKA888888" ] } ], "laptop/model_3020330614f11c235d6577db4a125344_0": [ { "instruction": "Pick the laptop and place it near the plant with a bottle and the pillow with a stool.", "condition": [ { "object_attribute": { "instance_id": "plant/model_44bf705c55da0b7d83eb52c010ecbfab_0", "category": "plant", "room": null, "appearance": null, "relation": [ [ true, "near", "bottle" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_ccc274cdfc254e0747ee7275716512e7_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "stool" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is nearby a plant( There is/are a bottle located near the object.), and nearby a pillow( There is/are a stool located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZDB6KKJVAJQSSPTULQ888888" ] }, { "instruction": "Pick the laptop and place it on the chair in the dining room, near the plant and the cup.", "condition": [ { "object_attribute": { "instance_id": "chair/model_cb32c84bfb8d02392eecefad6287cb19_0", "category": "chair", "room": "5/dinning room", "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cup/model_656b524fa913ab35d3c8c655b7d0cf33_0", "category": "cup", "room": "5/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is on a chair(This object is in dinning room. There is/are a plant located near the object.), and nearby a cup(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZDB6KKJVAJQSSPTULQ888888" ] } ], "tray/model_c41856dae0e46158ac9a017efdeb2773_0": [ { "instruction": "Pick the tray, which has a decoration nearby, and place it on the table in the living room, which has a pot nearby and a blanket underneath.", "condition": [ { "object_attribute": { "instance_id": "table/model_8ac8cf87c270b387b49884376ca861e9_0", "category": "table", "room": "6/living room", "appearance": null, "relation": [ [ true, "near", "pot" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_ce07e0ed27b043d97ccf18644c26a8bb_0", "category": "blanket", "room": null, "appearance": null, "relation": [ [ true, "under", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. There is/are a decoration located near the tray.)\". The target location is on a table(This object is in living room. There is/are a pot located near the object.), and nearby a blanket( There is/are a blanket located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_03_6PRE6SJVAUQGKPTUKA888888" ] }, { "instruction": "Pick the tray, which has a decoration nearby, and place it on the desk in the bedroom, near the table and the blanket.", "condition": [ { "object_attribute": { "instance_id": "desk/model_4381f6120ac3eb9bcf07636c316bc7c1_0", "category": "desk", "room": "9/bedroom", "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_cb799847a6f7bcfd0d1cbba8e8fb1eee_0", "category": "blanket", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray. There is/are a decoration located near the tray.)\". The target location is on a desk(This object is in bedroom. There is/are a table located near the object.), and nearby a blanket(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_03_6PRE6SJVAUQGKPTUKA888888" ] } ], "keyboard/model_ed3cdad968cca3e034330b9f092fdee1_0": [ { "instruction": "Pick the keyboard and place it on the table in the bedroom, nearby the mirror in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "table/model_1814aabeecb006cba92c5e523541bd85_0", "category": "table", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_b0825bfa060b6ab52c54cc9c80779a01_0", "category": "mirror", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is keyboard(This object is a keyboard.)\". The target location is on a table(This object is in bedroom.), and nearby a mirror(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "keyboard/SM_01_ZEMBU2RVAI3YYPTULM888888" ] }, { "instruction": "Pick the keyboard and place it on the table near the shelf with a coiled wire handle at the top.", "condition": [ { "object_attribute": { "instance_id": "table/model_668540f0e14465ed75b85cebab4b9474_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "shelf/model_6a0d77b7b4d03977b633d564ac9d46fc_0", "category": "shelf", "room": null, "appearance": [ "It has a coiled wire handle at the top." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is keyboard(This object is a keyboard.)\". The target location is on a table, and nearby a shelf(It has a coiled wire handle at the top.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "keyboard/SM_01_ZEMBU2RVAI3YYPTULM888888" ] } ], "pot/model_3023ec5d6fde5cbf78bccc9325eb1476_0": [ { "instruction": "Pick the pot in the living room and place it near the picture and the chair, which are located near a window.", "condition": [ { "object_attribute": { "instance_id": "picture/model_b9a7968da6897e5b6fb0e1fdf9b4d4c8_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_46a9fd7e65f9da18ad68ed0d1cf1f381_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is nearby a picture, and nearby a chair( There is/are a window located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWDTZVAI3YYPTUKE888888" ] }, { "instruction": "Pick the pot in the living room and place it on the cabinet in the bedroom near the door.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_91eb61a72b709ff5ce88540e91761dc5_0", "category": "cabinet", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_b3f65042aee29464435fbc517808015d_0", "category": "cabinet", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is on a cabinet(This object is in bedroom.), and nearby a cabinet(This object is in bedroom. There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWDTZVAI3YYPTUKE888888" ] } ], "bottle/model_3db17284bd38289c450dcb0f50988d0e_0": [ { "instruction": "Pick the bottle with a white label around its middle section and a beige neck from the dining room. Place it in the living room nearby the blanket under the object and the table.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_a2a0e854c64c017bbd0154c8ea4ab5fc_0", "category": "blanket", "room": "6/living room", "appearance": null, "relation": [ [ true, "under", "blanket" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "table/model_8ac8cf87c270b387b49884376ca861e9_0", "category": "table", "room": "6/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in dinning room. The bottle has a white label around its middle section. The bottle has a beige neck. The bottle has a label wrapped around its middle section. The bottle has a cylindrical body.)\". The target location is nearby a blanket(This object is in living room. There is/are a blanket located under the object.), and nearby a table(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_ZEOVXMBVALHW2PTUKE888888", "bottle/SM_02_ZEOVVYZVAI3Y2PTULY888888" ] }, { "instruction": "Pick the gray bottle with a slightly narrower neck from the dining room and place it near the stool, which is near a cabinet and a TV.", "condition": [ { "object_attribute": { "instance_id": "stool/model_07c8519877ff2b965e1a78134fe381dc_0", "category": "stool", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "tv/model_018ce7a66c7a500ba51cc04faac38e48_0", "category": "tv", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in dinning room. The bottle is primarily gray. The bottle has a slightly narrower neck.)\". The target location is nearby a stool( There is/are a cabinet located near the object.), and nearby a tv.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_ZEOVXMBVALHW2PTUKE888888", "bottle/SM_02_ZEOVVYZVAI3Y2PTULY888888" ] } ], "cup/model_6237240c297fd7e91bec211a68c0c0d8_0": [ { "instruction": "Pick the cup from the bedroom near the window and place it on the cabinet near the pillow and trashcan.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_8ede8c7398f0e81e4f298f75db2ce62f_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_7d120b49a4c0632018054257cdd83cb3_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "trashcan" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in bedroom. There is/are a window located near the cup.)\". The target location is on a cabinet, and nearby a pillow( There is/are a trashcan located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_09_6KWWASJVAZU4WPTUKE888888" ] }, { "instruction": "Pick the cup located in the bedroom near the window and place it in the dining room on the table near the plate.", "condition": [ { "object_attribute": { "instance_id": "cup/model_e8882cb8463128b969b98fbb0c463be8_0", "category": "cup", "room": "5/dinning room", "appearance": null, "relation": [ [ true, "below", "table" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plate/model_db96d912aae92d6f0a1a5edf65b25073_0", "category": "plate", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in bedroom. There is/are a window located near the cup.)\". The target location is nearby a cup(This object is in dinning room. There is/are a table located below the object.), and nearby a plate(nothing is contain/hold the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_09_6KWWASJVAZU4WPTUKE888888" ] } ], "picture/model_b42851768bde3b5cf2354fd13f397433_0": [ { "instruction": "Pick the picture in the toilet and place it on the chair in the bedroom, near the pillow and the desk.", "condition": [ { "object_attribute": { "instance_id": "chair/model_4a313e149240b49c22fd2680d8b11c33_0", "category": "chair", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_c1d1cae03eedbed64a614d6097b9ded6_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "desk" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in toilet.)\". The target location is on a chair(This object is in bedroom.), and nearby a pillow( There is/are a desk located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_02_6AUZ6METDZTUWX36JU888888" ] }, { "instruction": "Pick the picture in the toilet and place it nearby a laptop and a picture.", "condition": [ { "object_attribute": { "instance_id": "laptop/model_3020330614f11c235d6577db4a125344_0", "category": "laptop", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "picture/model_b9a7968da6897e5b6fb0e1fdf9b4d4c8_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in toilet.)\". The target location is nearby a laptop, and nearby a picture.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_02_6AUZ6METDZTUWX36JU888888" ] } ], "bottle/model_bad3b8bbd4d94ff40bb19aaa1eb6ce9b_0": [ { "instruction": "Pick the bottle from the study room and place it on the desk in the bedroom, near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "desk/model_f77def13cc7842e5caa7eed2f0f7e3e5_0", "category": "desk", "room": "9/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_725bf9e9ef5f68afaca346cce768198e_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in study room.)\". The target location is on a desk(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZRCV6PRVAUUTGPTULI888888" ] }, { "instruction": "Pick the bottle from the study room and place it near the blanket by the curtain.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_221333a973e33960b4b5b83f54864ec8_0", "category": "curtain", "room": null, "appearance": null, "relation": [ [ true, "near", "blanket" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_e6bd8d0043de5861214578f794afb5ce_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in study room.)\". The target location is nearby a curtain( There is/are a blanket located near the object.), and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZRCV6PRVAUUTGPTULI888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAADA8_usd": { "cup/model_750dbb4f5f7e8803032e7cc56746712e_0": [ { "instruction": "Pick the cup (lamp located near the cup) and place it on the table (light located near the object).", "condition": [ { "object_attribute": { "instance_id": "table/model_8e4146a79ce1344d3c227e07c6d677b5_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_b08922ff8a191f7a7d5480b2b477e041_0", "category": "cup", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a lamp located near the cup.)\". The target location is nearby a table, and nearby a cup( There is/are a light located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_SBV5GWWO7DSS2OWEL4888888" ] }, { "instruction": "Pick the cup, which is near a lamp, and place it on the chair in the living room, near a light and a tray.", "condition": [ { "object_attribute": { "instance_id": "chair/model_7db2e9ce334a2369b0ba9a5a1e063883_0", "category": "chair", "room": "1/living room", "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "tray/model_1910cbecd02e0df36b6f13d8a1dadf71_0", "category": "tray", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a lamp located near the cup.)\". The target location is on a chair(This object is in living room. There is/are a light located near the object.), and nearby a tray.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_SBV5GWWO7DSS2OWEL4888888" ] } ], "tray/model_1910cbecd02e0df36b6f13d8a1dadf71_0": [ { "instruction": "Pick the tray and place it on the table in the living room, nearby a light with a cup located below.", "condition": [ { "object_attribute": { "instance_id": "table/model_8e4146a79ce1344d3c227e07c6d677b5_0", "category": "table", "room": "1/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "light/model_c3e88600810056ea235baafc688ddcce_0", "category": "light", "room": "1/living room", "appearance": null, "relation": [ [ true, "below", "cup" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is on a table(This object is in living room.), and nearby a light(This object is in living room. There is/are a cup located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6GGEDDJVAZS36PTULY888888" ] }, { "instruction": "Pick the tray and place it on the shelf nearby a shoe located below the object.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_bdc4ca5ecccea926c57b019137faf629_0", "category": "shelf", "room": null, "appearance": null, "relation": [ [ true, "below", "shoe" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "shoe/model_32c5949b37c058a6c2e557e4f544e831_0", "category": "shoe", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is on a shelf( There is/are a shoe located below the object.), and nearby a shoe.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_00_6GGEDDJVAZS36PTULY888888" ] } ], "telephone/model_9eeba0db01da5af9e48c5c181749360f_0": [ { "instruction": "Pick the telephone located near the curtain and place it on the table near the light and the picture.", "condition": [ { "object_attribute": { "instance_id": "table/model_405928d89e52cf52d32c051c2c12a86d_0", "category": "table", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "picture/model_54b394028df3004ae71fbabff60cf91a_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is telephone(This object is a telephone. There is/are a curtain located near the telephone.)\". The target location is nearby a table( There is/are a light located near the object.), and nearby a picture.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "telephone/SM_00_6HSRXMZVAZSUUPTUJQ888888" ] }, { "instruction": "Pick the telephone located near the curtain and place it on the dishwasher, which is also nearby a curtain.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_22d59285e83082ed2f05c1bf8e32c871_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_658cf741393cffcb4b170e53b10561d3_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is telephone(This object is a telephone. There is/are a curtain located near the telephone.)\". The target location is on a dishwasher, and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "telephone/SM_00_6HSRXMZVAZSUUPTUJQ888888" ] } ], "light/model_f49c5622bce4b1569a6aa4ab29b2ec5c_0": [ { "instruction": "Pick the light from the dining room and place it on the table near the window.", "condition": [ { "object_attribute": { "instance_id": "table/model_091f25e8ca4458f2d81009671b09625d_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "window/model_39812cf56d3df0885e9b26d331c543be_0", "category": "window", "room": null, "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is on a table, and nearby a window( There is/are a table located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_07_SP3SIQOO7PRTCJBHLE888888" ] }, { "instruction": "Pick the light in the dining room and place it on the tray in the living room, which is located below another light and near a cup.", "condition": [ { "object_attribute": { "instance_id": "light/model_fc242f12bb8dd46b453ebe850897ccb9_0", "category": "light", "room": "1/living room", "appearance": null, "relation": [ [ true, "below", "tray" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_0ae865a98b2928257f78a4b231a4b2a2_0", "category": "cup", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a light(This object is in living room. There is/are a tray located below the object.), and nearby a cup( There is/are a light located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_07_SP3SIQOO7PRTCJBHLE888888" ] } ], "cup/model_4322c9de7d2b9174d600b883f787bbce_0": [ { "instruction": "Pick the cup, which has a light located near it, and place it on the table in the living room, nearby the curtain.", "condition": [ { "object_attribute": { "instance_id": "table/model_8e4146a79ce1344d3c227e07c6d677b5_0", "category": "table", "room": "1/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_2cdef050c33a2f9846329989e4545cb6_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a light located near the cup.)\". The target location is on a table(This object is in living room.), and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6GGEDDJVAZS36PTULY888888", "cup/SM_02_6GGEDDJVAZS36PTULY888888", "cup/SM_03_6GGEDDJVAZS36PTULY888888" ] }, { "instruction": "Pick the cup located near a light and place it nearby a pillow with visible seams along the edges, near a window.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_fa61dacfb17e8c28a928faa14b1e7fb3_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_a9d6ce4f22ced95a925e9195106ec4f6_0", "category": "pillow", "room": null, "appearance": [ "Visible seams are along the edges." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a light located near the cup.)\". The target location is nearby a pillow( There is/are a window located near the object.), and nearby a pillow(Visible seams are along the edges.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6GGEDDJVAZS36PTULY888888", "cup/SM_02_6GGEDDJVAZS36PTULY888888", "cup/SM_03_6GGEDDJVAZS36PTULY888888" ] } ], "bottle/model_d849163155969388fb02ebc2b851c654_0": [ { "instruction": "Pick the bottle and place it near the shoe and the toilet.", "condition": [ { "object_attribute": { "instance_id": "shoe/model_32c5949b37c058a6c2e557e4f544e831_0", "category": "shoe", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toilet/model_272ff04e4c43e17ea87a22ebaabdfbf5_0", "category": "toilet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is nearby a shoe, and nearby a toilet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6IZQ45ZVAVCMSPTUL4888888", "bottle/SM_01_6IZQ45ZVAVCMSPTUL4888888" ] }, { "instruction": "Pick the bottle and place it near the pillow and the cabinet, which is near a table.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_d576f10de4556dc133e51dc7f8c832e0_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_c1b8b702defc499d5f8ef48fc366327f_0", "category": "cabinet", "room": null, "appearance": [ "The object in the images is a cabinet." ], "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is nearby a pillow, and nearby a cabinet( There is/are a table located near the object.The object in the images is a cabinet.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6IZQ45ZVAVCMSPTUL4888888", "bottle/SM_01_6IZQ45ZVAVCMSPTUL4888888" ] } ], "plate/model_260800e518042b1b7b31118609c55a93_0": [ { "instruction": "Pick the plate and place it on the shelf nearby a towel.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_77b0a11629ccf80f2f3015dd130e7279_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "towel/model_355007c8aae6b9de393515bd9888c9c8_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate.)\". The target location is on a shelf, and nearby a towel.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_SBV5GWWO7DSS2OWEL4888888" ] }, { "instruction": "Pick the plate and place it on the table in the bedroom, nearby the chair in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "table/model_a07731e5982cb1822339ad38471bbbb4_0", "category": "table", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_82fb52f9560c2d093d9ed0b56edbaf9d_0", "category": "chair", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate.)\". The target location is on a table(This object is in bedroom.nothing is above the object.), and nearby a chair(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_00_SBV5GWWO7DSS2OWEL4888888" ] } ] }, "MVUHL5YKTKJ5EAABAAAAAAI8_usd": { "cup/model_1685e90792dec59c650ea04a69ef9b38_0": [ { "instruction": "Pick the cup and place it nearby the pillow in the bedroom near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_af6d1d723ae3152be8344ca1f36aa3e0_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_76fc67e4577b4d8931b03abdebca5395_0", "category": "cabinet", "room": "5/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is nearby a pillow(nothing is on the object.), and nearby a cabinet(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_6LDPKFJVAJTPWPTUKA888888", "cup/SM_01_6LDPKFJVAJTPWPTUKA888888" ] }, { "instruction": "Pick the cup (This object is a cup.) and place it on the table in the living room (This object is in living room. There is/are a sofa_chair located near the object.), nearby the blanket.", "condition": [ { "object_attribute": { "instance_id": "table/model_9151259a91751e9914d1e7a5f0e8eff5_0", "category": "table", "room": "7/living room", "appearance": null, "relation": [ [ true, "near", "sofa_chair" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_113d18ff0a1bde37e1ed2e38e88b3f60_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is on a table(This object is in living room. There is/are a sofa_chair located near the object.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_00_6LDPKFJVAJTPWPTUKA888888", "cup/SM_01_6LDPKFJVAJTPWPTUKA888888" ] } ], "pillow/model_6e8a50a1386ea7f45ff1faa5f89f0b65_0": [ { "instruction": "Pick the pillow from the bedroom, which has a toy and a light nearby and another toy above it, and place it on the cabinet in the bedroom, which has a flat top surface with raised edges on three sides and a blanket below it.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_8809f468972f43632ef988ed669f2d26_0", "category": "cabinet", "room": "8/bedroom", "appearance": [ "The top surface is flat with raised edges on three sides." ], "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_1728a825811b2430d73b84e9c9b77b90_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "below", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a toy located near the pillow. There is/are a light located near the pillow. There is/are a toy located above the pillow.)\". The target location is on a cabinet(This object is in bedroom.The top surface is flat with raised edges on three sides.), and nearby a pillow( There is/are a blanket located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_04_6KWWAFRVAVZPSPTUKA888888" ] }, { "instruction": "Pick the pillow in the bedroom, which is near a toy and a light, and has a toy above it. Place it on the bed, nearby the blanket.", "condition": [ { "object_attribute": { "instance_id": "bed/model_db2d46cc6932e68275c07f07ea229d2a_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "in", "blanket" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_7078f232ab4e809a44d6df6369cbb1fb_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a toy located near the pillow. There is/are a light located near the pillow. There is/are a toy located above the pillow.)\". The target location is on a bed( There is/are a blanket located in the object.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_04_6KWWAFRVAVZPSPTUKA888888" ] } ], "pillow/model_e6c3fe5abffbf95c135a5310d0415c7c_0": [ { "instruction": "Pick the pillow from the living room near the trashcan and place it near the towel.", "condition": [ { "object_attribute": { "instance_id": "towel/model_926bd72eb8374d20b84a039a5be5b4c4_0", "category": "towel", "room": null, "appearance": null, "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_e14fd49c8dda9a30afe40d473b092505_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. There is/are a trashcan located near the pillow.)\". The target location is nearby a towel(nothing is on the object.), and nearby a towel.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_12_6KZ62XRVAZSUYPTULU888888", "pillow/SM_14_6KZ62XRVAZSUYPTULU888888", "pillow/SM_17_6KZ62XRVAZSUYPTULU888888", "pillow/SM_18_6KZ62XRVAZSUYPTULU888888", "pillow/SM_19_6KZ62XRVAZSUYPTULU888888" ] }, { "instruction": "Pick the pillow, which is in the living room near a trashcan, and place it on the table in the living room near a sofa chair and a couch.", "condition": [ { "object_attribute": { "instance_id": "table/model_9151259a91751e9914d1e7a5f0e8eff5_0", "category": "table", "room": "7/living room", "appearance": null, "relation": [ [ true, "near", "sofa_chair" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "couch/model_79919b18494493bb662e94471b732e1e_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in living room. There is/are a trashcan located near the pillow.)\". The target location is on a table(This object is in living room. There is/are a sofa_chair located near the object.), and nearby a couch.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_12_6KZ62XRVAZSUYPTULU888888", "pillow/SM_14_6KZ62XRVAZSUYPTULU888888", "pillow/SM_17_6KZ62XRVAZSUYPTULU888888", "pillow/SM_18_6KZ62XRVAZSUYPTULU888888", "pillow/SM_19_6KZ62XRVAZSUYPTULU888888" ] } ], "bowl/model_daf21c8e254b2b3bcd404f880b055cfc_0": [ { "instruction": "Pick the bowl, which has a plant nearby, a cabinet above, another bowl inside, and another bowl underneath, and place it in the dining room near the decoration.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_fddc99ec504797392578b3d02ed81bfc_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_93399399bc4e72e1f5c06b0fc3b7c79b_0", "category": "decoration", "room": "0/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. There is/are a plant located near the bowl. There is/are a cabinet located above the bowl. There is/are 1 another bowl located in the bowl. There is/are 1 another bowl located under the bowl.)\". The target location is nearby a decoration, and nearby a decoration(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_00_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_01_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_02_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_03_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_04_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_05_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_06_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_07_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_08_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_09_6LDPKFJVAJTPWPTUKA888888" ] }, { "instruction": "Pick the bowl, which has a plant nearby, a cabinet above, another bowl inside, and another bowl underneath, and place it near the trashcan in the toilet, which has a shelf nearby and is also near a towel.", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_260df76ff0dd6e63545f8d6698ea54cc_0", "category": "trashcan", "room": "4/toilet", "appearance": null, "relation": [ [ true, "near", "shelf" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_fb01318fa96ceb3c3ca8774ee8de183e_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. There is/are a plant located near the bowl. There is/are a cabinet located above the bowl. There is/are 1 another bowl located in the bowl. There is/are 1 another bowl located under the bowl.)\". The target location is nearby a trashcan(This object is in toilet. There is/are a shelf located near the object.), and nearby a towel.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_00_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_01_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_02_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_03_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_04_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_05_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_06_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_07_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_08_6LDPKFJVAJTPWPTUKA888888", "bowl/SM_09_6LDPKFJVAJTPWPTUKA888888" ] } ], "pot/model_b3adab15648c19c301959973e0868e54_0": [ { "instruction": "Pick the pot and place it on the bed, nearby the pillow.", "condition": [ { "object_attribute": { "instance_id": "bed/model_15fb9dc76e4cab4859c04ec9fc2920d1_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_6e8a50a1386ea7f45ff1faa5f89f0b65_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a bed, and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWOFRVAJQXQPTUKE888888" ] }, { "instruction": "Pick the pot and place it on the cabinet in the corridor, nearby the plant in the corridor.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_7c07c1e1b9c4925587f838f3738449a7_0", "category": "cabinet", "room": "1/corridor", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plant/model_e2b15ea37f9923a6764a6de6c86e5f7a_0", "category": "plant", "room": "1/corridor", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is on a cabinet(This object is in corridor.), and nearby a plant(This object is in corridor.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWOFRVAJQXQPTUKE888888" ] } ], "pillow/model_776d8f8bb97aa44b22e36ce0683682e4_0": [ { "instruction": "Pick up the pillow from the bed in the bedroom, near the cabinet and light, and place it on the table near the book and another pillow.", "condition": [ { "object_attribute": { "instance_id": "table/model_57cb1a161e9e0495b7c524643e9b063e_0", "category": "table", "room": null, "appearance": null, "relation": [ [ true, "near", "book" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_a78d6264bd8e0c996322de3d4c2b45f3_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a light located near the pillow. nothing is below the pillow. There is/are a bed located contain/hold the pillow.)\". The target location is on a table( There is/are a book located near the object.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_28_ZF6IPWRVALHVCPTUJQ888888", "pillow/SM_30_ZF6IPWRVALHVCPTUJQ888888", "pillow/SM_32_ZF6IPWRVALHVCPTUJQ888888" ] }, { "instruction": "Pick the pillow from the bed in the bedroom, near the cabinet and light, and place it on the chair in the dining room, near the door and table.", "condition": [ { "object_attribute": { "instance_id": "chair/model_bf76a3c8bbebfc1f72309e9f4c64ff38_0", "category": "chair", "room": "0/dinning room", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "table/model_f46d57d2d2fa0b7dee34ab1201e2cc14_0", "category": "table", "room": "0/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a cabinet located near the pillow. There is/are a light located near the pillow. nothing is below the pillow. There is/are a bed located contain/hold the pillow.)\". The target location is on a chair(This object is in dinning room. There is/are a door located near the object.), and nearby a table(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_28_ZF6IPWRVALHVCPTUJQ888888", "pillow/SM_30_ZF6IPWRVALHVCPTUJQ888888", "pillow/SM_32_ZF6IPWRVALHVCPTUJQ888888" ] } ], "toy/model_8a77ddc3736e0efdd3b67a42c3b33230_0": [ { "instruction": "Pick the toy with a light above it and place it in the bedroom nearby a pillow with nothing below it.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_df292a5b455bd3647c75f527bd1cdf2e_0", "category": "pillow", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_8de95363526a27ba9c15319484abdbe0_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy. There is/are a light located above the toy.)\". The target location is nearby a pillow(This object is in bedroom.), and nearby a pillow(nothing is below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_00_6KWWAFRVAVZPSPTUKA888888" ] }, { "instruction": "Pick the toy with a light above it and place it in the living room near the decoration and the blanket.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_53bafd8d2397d37973d796badce422a2_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_113d18ff0a1bde37e1ed2e38e88b3f60_0", "category": "blanket", "room": "7/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy. There is/are a light located above the toy.)\". The target location is nearby a decoration, and nearby a blanket(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_00_6KWWAFRVAVZPSPTUKA888888" ] } ], "pillow/model_80228a8cbf6bf796a85021435a7a7c76_0": [ { "instruction": "Pick the pillow located in the bedroom near the curtain and place it nearby the bed with a blanket and near the light fixture with a white cylindrical shade.", "condition": [ { "object_attribute": { "instance_id": "bed/model_db2d46cc6932e68275c07f07ea229d2a_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "in", "blanket" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "light/model_d1b4d47bd9bdb63c72abe15629a766a9_0", "category": "light", "room": "8/bedroom", "appearance": [ "Each arm ends in a light fixture that consists of a white cylindrical shade." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a curtain located near the pillow. nothing is below the pillow.)\". The target location is nearby a bed( There is/are a blanket located in the object.), and nearby a light(This object is in bedroom.Each arm ends in a light fixture that consists of a white cylindrical shade.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_06_6IWGCNMTDD52EPTUKU888888", "pillow/SM_07_6IWGCNMTDD52EPTUKU888888", "pillow/SM_08_6IWGCNMTDD52EPTUKU888888", "pillow/SM_09_6IWGCNMTDD52EPTUKU888888", "pillow/SM_11_6IWGCNMTDD52EPTUKU888888" ] }, { "instruction": "Pick the pillow from the bedroom, which is near a curtain and has nothing below it, and place it on the chair in the dining room, which has nothing above it and is near a door.", "condition": [ { "object_attribute": { "instance_id": "chair/model_d2d55009e7ced236c3203198ec4ad855_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_bf76a3c8bbebfc1f72309e9f4c64ff38_0", "category": "chair", "room": "0/dinning room", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a curtain located near the pillow. nothing is below the pillow.)\". The target location is on a chair(nothing is above the object.), and nearby a chair(This object is in dinning room. There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_06_6IWGCNMTDD52EPTUKU888888", "pillow/SM_07_6IWGCNMTDD52EPTUKU888888", "pillow/SM_08_6IWGCNMTDD52EPTUKU888888", "pillow/SM_09_6IWGCNMTDD52EPTUKU888888", "pillow/SM_11_6IWGCNMTDD52EPTUKU888888" ] } ], "pan/model_ed4256b5d8016d5c0f0463fa7b30a471_0": [ { "instruction": "Pick the pan and place it on the stool near the cabinet with a mirror nearby.", "condition": [ { "object_attribute": { "instance_id": "stool/model_e82afa1091ffb4086182a6ef96a21139_0", "category": "stool", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_8e3a0157ed15638c048aa9e907514615_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "mirror" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a stool, and nearby a cabinet( There is/are a mirror located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWMFZVAIMJCPTULM888888" ] }, { "instruction": "Pick the pan and place it on the chair in the bedroom, nearby the bed.", "condition": [ { "object_attribute": { "instance_id": "chair/model_701b19f80c9158612a67cf8de5cb1c47_0", "category": "chair", "room": "6/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_15fb9dc76e4cab4859c04ec9fc2920d1_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a chair(This object is in bedroom.), and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZEMWMFZVAIMJCPTULM888888" ] } ], "picture/model_d69ed269482b4465d78eb376c4d217fd_0": [ { "instruction": "Pick the picture and place it on the chair in the dining room, nearby a chair.", "condition": [ { "object_attribute": { "instance_id": "chair/model_d2d55009e7ced236c3203198ec4ad855_0", "category": "chair", "room": "0/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_bf76a3c8bbebfc1f72309e9f4c64ff38_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture.)\". The target location is on a chair(This object is in dinning room.), and nearby a chair.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6NYHBRZVAVT4WPTULA888888" ] }, { "instruction": "Pick the picture and place it on the bed near a pillow.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_a10c3de86b9a5751a75a0d6b5026097c_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "bed" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_af6d1d723ae3152be8344ca1f36aa3e0_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture.)\". The target location is nearby a pillow( There is/are a bed located contain/hold the object.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_6NYHBRZVAVT4WPTULA888888" ] } ] } }, "validate": { "MVUCSQAKTKJ5EAABAAAAAAI8_usd": { "pillow/model_156d874d88b2510fb320509746ac9ebe_0": [ { "instruction": "Pick the pillow located near the door and the shelf, and place it nearby the blanket and the shoe.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_4fb4ff35bda9e85a79cfb95c605873eb_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_a3cbc4b1d0af8ebbc5504db6df5349ca_0", "category": "shoe", "room": null, "appearance": null, "relation": [ [ true, "near", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a door located near the pillow. There is/are a shelf located near the pillow.)\". The target location is nearby a blanket, and nearby a shoe( There is/are a blanket located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_02_6FS4NCETD5TGCPTUKY888888" ] }, { "instruction": "Pick the pillow near the door and shelf, and place it on the table in the balcony, which is nearby a stool.", "condition": [ { "object_attribute": { "instance_id": "table/model_c3e316c0d3953fd01f1816bca78c58b1_0", "category": "table", "room": "7/balcony", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "stool/model_f469158679f1062627e6d2f60e20c05f_0", "category": "stool", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a door located near the pillow. There is/are a shelf located near the pillow.)\". The target location is on a table(This object is in balcony.), and nearby a stool.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_02_6FS4NCETD5TGCPTUKY888888" ] } ], "basket/model_f6599b2c46bfca8baa1f960a139f3191_0": [ { "instruction": "Pick the basket and place it near the light and the decoration in the bedroom, where there is a table nearby.", "condition": [ { "object_attribute": { "instance_id": "light/model_acbea5e751dd07e790505f933688a529_0", "category": "light", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "table" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_1b4605d488383be973371c069b5675d3_0", "category": "decoration", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a light(This object is in bedroom. There is/are a table located near the object.), and nearby a decoration(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6PY52XBVAV6OSPTUKQ888888" ] }, { "instruction": "Pick the basket (This object is a basket.) and place it on the chair (This object is in bedroom. There is/are a cabinet located near the object.), nearby the shoe (This object is in bedroom. There is/are a blanket located near the object.).", "condition": [ { "object_attribute": { "instance_id": "chair/model_43cde5fcbdb638ec12943acb05aa31bd_0", "category": "chair", "room": "1/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "shoe/model_a3cbc4b1d0af8ebbc5504db6df5349ca_0", "category": "shoe", "room": "1/bedroom", "appearance": null, "relation": [ [ true, "near", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is on a chair(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a shoe(This object is in bedroom. There is/are a blanket located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6PY52XBVAV6OSPTUKQ888888" ] } ], "pillow/model_f53313ff6d06c7ed2350152164511b85_0": [ { "instruction": "Pick the pillow located near the door and blanket, and place it on the counter in the bathroom near the window.", "condition": [ { "object_attribute": { "instance_id": "counter/model_607cb8c4469d73d2d7a7372df08a2c51_0", "category": "counter", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "window/model_ffc42c39d170ae525e7c046e32e4c4ae_0", "category": "window", "room": "4/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a door located near the pillow. There is/are a blanket located near the pillow.)\". The target location is on a counter, and nearby a window(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_01_6OPYSGJVAJTAMPTULY888888" ] }, { "instruction": "Pick the pillow located near the door and blanket, and place it in the bedroom near the blanket and the book with visible cracks and discoloration on the spine, which is below a plant and near a cabinet.", "condition": [ { "object_attribute": { "instance_id": "blanket/model_92faa91b4895bd3d59d6c57629dd25eb_0", "category": "blanket", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "book/model_6636d27d47a5a8e1fb51c68c4f71bcaf_0", "category": "book", "room": "0/bedroom", "appearance": [ "There are visible cracks and discoloration on the spine." ], "relation": [ [ true, "above", "plant" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a door located near the pillow. There is/are a blanket located near the pillow.)\". The target location is nearby a blanket(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a book(This object is in bedroom. There is/are a plant located above the object.There are visible cracks and discoloration on the spine.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_01_6OPYSGJVAJTAMPTULY888888" ] } ], "pillow/model_8abf5d6e658a87c4fb0735d20a3f1800_0": [ { "instruction": "Pick up the pillow that has another pillow on it, which is near a chair and a shoe, and place it on the bed near a pillow and a shelf.", "condition": [ { "object_attribute": { "instance_id": "bed/model_f168cb64c63883f32c6df17b4e4f39c2_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "shelf" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_156d874d88b2510fb320509746ac9ebe_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "shelf" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow. There is/are a shoe located near the pillow. nothing is under the pillow. There is/are 1 another pillow located on the pillow.)\". The target location is on a bed( There is/are a shelf located near the object.), and nearby a pillow( There is/are a shelf located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_06_Z7FNM5BVAJRBAPTULI888888", "pillow/SM_07_Z7FNM5BVAJRBAPTULI888888", "pillow/SM_08_Z7FNM5BVAJRBAPTULI888888" ] }, { "instruction": "Pick up the pillow that has another pillow on it, which is near a chair and a shoe, and place it near the bed, which is rectangular and near a door, and also near a shoe with a blanket nearby.", "condition": [ { "object_attribute": { "instance_id": "bed/model_e5bfe6ee0e197c4c62ca71c6aadff1c9_0", "category": "bed", "room": null, "appearance": [ "The bed has a rectangular shape." ], "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_9d02d7c3720adb48c32f7dbd1b861f27_0", "category": "shoe", "room": null, "appearance": null, "relation": [ [ true, "near", "blanket" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow. There is/are a shoe located near the pillow. nothing is under the pillow. There is/are 1 another pillow located on the pillow.)\". The target location is nearby a bed( There is/are a door located near the object.The bed has a rectangular shape.), and nearby a shoe( There is/are a blanket located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_06_Z7FNM5BVAJRBAPTULI888888", "pillow/SM_07_Z7FNM5BVAJRBAPTULI888888", "pillow/SM_08_Z7FNM5BVAJRBAPTULI888888" ] } ], "bottle/model_1c6bc36fb5354526ef1384bd843d3948_0": [ { "instruction": "Pick the bottle and place it near the plant in the living room, close to the book with nothing below it.", "condition": [ { "object_attribute": { "instance_id": "plant/model_450822d014c000b0bde3eedbd07b3932_0", "category": "plant", "room": "8/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "book/model_cf766410523256bd05ce22a579076d4b_0", "category": "book", "room": null, "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is nearby a plant(This object is in living room.), and nearby a book(nothing is below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZB2KC6ZVAJQQIPTUKU888888" ] }, { "instruction": "Pick the bottle and place it in the bathroom, nearby a shoe and a towel.", "condition": [ { "object_attribute": { "instance_id": "shoe/model_f927f0be1e72aadaf35688db70a294af_0", "category": "shoe", "room": "5/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_83283a8483b90d0c02d63ea63e409cc0_0", "category": "towel", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is nearby a shoe(This object is in bathroom.), and nearby a towel.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_ZB2KC6ZVAJQQIPTUKU888888" ] } ], "picture/model_50cb29bd23f550674020aa6fe6abe1f5_0": [ { "instruction": "Pick the picture and place it on the stool near the faucet.", "condition": [ { "object_attribute": { "instance_id": "stool/model_f469158679f1062627e6d2f60e20c05f_0", "category": "stool", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "faucet/model_94cd6008076051229cafb952fd414102_0", "category": "faucet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture.)\". The target location is on a stool, and nearby a faucet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_ZR3P7URVAVG52PTUL4888888" ] }, { "instruction": "Pick the picture located near the door and place it on the bed with the slightly curved headboard and footboard, nearby the pillow.", "condition": [ { "object_attribute": { "instance_id": "bed/model_e5bfe6ee0e197c4c62ca71c6aadff1c9_0", "category": "bed", "room": null, "appearance": [ "It features a slightly curved headboard and footboard." ], "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_8abf5d6e658a87c4fb0735d20a3f1800_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture.)\". The target location is on a bed( There is/are a door located near the object.It features a slightly curved headboard and footboard.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_01_ZR3P7URVAVG52PTUL4888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAAAQ8_usd": { "light/model_b5bba1587540f2b2f86cbadfc7db673e_0": [ { "instruction": "Pick the light in the bedroom and place it on the cabinet in the kitchen, located above and nearby another cabinet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_b7753a03a8a0b555c4fe691b4e97e681_0", "category": "cabinet", "room": "3/kitchen", "appearance": null, "relation": [ [ true, "above", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_3ae5c59ca0b51278af51ee77dcd7e3cf_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom.)\". The target location is on a cabinet(This object is in kitchen. There is/are a cabinet located above the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_03_6LHOBRZVAZWDMPTUKE888888" ] }, { "instruction": "Pick the light in the bedroom and place it on the bed near the blanket. There is a tvstand located near the object.", "condition": [ { "object_attribute": { "instance_id": "bed/model_14ddad3997a35a26bb9628084c9e2e84_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_2cb7b93c3ff8f72854bfd9fb5f9e8a76_0", "category": "blanket", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in bedroom.)\". The target location is on a bed( There is/are a tvstand located near the object.), and nearby a blanket(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_03_6LHOBRZVAZWDMPTUKE888888" ] } ], "picture/model_1e772a7c349a147b1a60cc983330c7f5_0": [ { "instruction": "Pick the picture in the corridor near the door and plant, and place it in the balcony near the cup, which is above a bottle, and near the curtain with a scalloped edge at the top.", "condition": [ { "object_attribute": { "instance_id": "cup/model_c97249b252f0f51d94a3ad05c6461371_0", "category": "cup", "room": "2/balcony", "appearance": null, "relation": [ [ true, "below", "bottle" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_c5dca09630af0d811411bc685c1435cd_0", "category": "curtain", "room": null, "appearance": [ "It has a scalloped edge at the top." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in corridor. There is/are a door located near the picture. There is/are a plant located near the picture.)\". The target location is nearby a cup(This object is in balcony. There is/are a bottle located below the object.), and nearby a curtain(It has a scalloped edge at the top.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_08_6N6XT4ZVAUTXWPTUK4888888", "picture/SM_09_6N6XT4ZVAUTXWPTUK4888888" ] }, { "instruction": "Pick the picture in the corridor near the door and plant, and place it on the cabinet in the dining room near the cup.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_92f8503bf2bd633d7b28cb1229214fa3_0", "category": "cabinet", "room": "4/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cup/model_2bff5ed1ae8b6e4b7caf74311c694cc6_0", "category": "cup", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in corridor. There is/are a door located near the picture. There is/are a plant located near the picture.)\". The target location is on a cabinet(This object is in dinning room.), and nearby a cup.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_08_6N6XT4ZVAUTXWPTUK4888888", "picture/SM_09_6N6XT4ZVAUTXWPTUK4888888" ] } ], "light/model_475ce9cecdcbe3a48fa8aeb9031dd7f1_0": [ { "instruction": "Pick the light from the dining room and place it on the chair in the balcony near the washing machine and the window.", "condition": [ { "object_attribute": { "instance_id": "chair/model_863f4730d7a531a845b58dbfab90b6d6_0", "category": "chair", "room": "7/balcony", "appearance": null, "relation": [ [ true, "near", "washingmachine" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "window/model_4e421a8c2e9322786f5f36648384b299_0", "category": "window", "room": "7/balcony", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is on a chair(This object is in balcony. There is/are a washingmachine located near the object.), and nearby a window(This object is in balcony.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6EYHFOUTD5TGGVG2JU888888" ] }, { "instruction": "Pick the light in the dining room and place it near the pillow with visible creases and folds, and near the plain-sided cabinet located by the window.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_b0203a655e5e3c7165b83a4cc67e7089_0", "category": "pillow", "room": null, "appearance": [ "It has visible creases and folds on its surface." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_a6de4f19afc3d314c1bcd0c92c9b9ef7_0", "category": "cabinet", "room": null, "appearance": [ "The sides of the cabinet are plain with no additional features or subcomponents." ], "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a pillow(It has visible creases and folds on its surface.), and nearby a cabinet( There is/are a window located near the object.The sides of the cabinet are plain with no additional features or subcomponents.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6EYHFOUTD5TGGVG2JU888888" ] } ], "pot/model_a6b61a6743100a322e214740b5b06893_0": [ { "instruction": "Pick the pot from the kitchen and place it in the bedroom nearby a toy.", "condition": [ { "object_attribute": { "instance_id": "toy/model_e31b2c0623a1c923cb58f68213618124_0", "category": "toy", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toy/model_3e03ec877a458a6cb5e3c3f3cc00d6c7_0", "category": "toy", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in kitchen.)\". The target location is nearby a toy, and nearby a toy(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWOFRVAJQXQPTUKA888888" ] }, { "instruction": "Pick the pot from the kitchen and place it on the table near the decoration.", "condition": [ { "object_attribute": { "instance_id": "table/model_5caabb2c65a6c636760dec41d45c276b_0", "category": "table", "room": null, "appearance": null, "relation": [ [ true, "near", "decoration" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_8a0504eb0fce82c69fb27627ce2afa12_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in kitchen.)\". The target location is on a table( There is/are a decoration located near the object.), and nearby a decoration.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZEMWOFRVAJQXQPTUKA888888" ] } ], "pillow/model_efe6b54f52079980e13fa19e9b07b92d_0": [ { "instruction": "Pick the pillow located near the window, toy, and bed, and place it near the bed, toy, and lamp.", "condition": [ { "object_attribute": { "instance_id": "bed/model_6a5292da635a8e082a34a53c40d198d8_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "toy" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "lamp/model_8b8222ef0ab8d611ff4e669f7d33a75c_0", "category": "lamp", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow. There is/are a toy located near the pillow. There is/are a bed located near the pillow.)\". The target location is nearby a bed( There is/are a toy located near the object.), and nearby a lamp.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6K6DIERVAZSYIPTUKU888888", "pillow/SM_01_6K6DIERVAZSYIPTUKU888888" ] }, { "instruction": "Pick the pillow located near the window, toy, and bed, and place it on the tv stand near the tv and blanket in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_56a2286a92f34c8acc7bab93590f5985_0", "category": "tvstand", "room": null, "appearance": null, "relation": [ [ true, "near", "tv" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_2cb7b93c3ff8f72854bfd9fb5f9e8a76_0", "category": "blanket", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a window located near the pillow. There is/are a toy located near the pillow. There is/are a bed located near the pillow.)\". The target location is on a tvstand( There is/are a tv located near the object.), and nearby a blanket(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6K6DIERVAZSYIPTUKU888888", "pillow/SM_01_6K6DIERVAZSYIPTUKU888888" ] } ], "basket/model_7cd32709e3c92308fd7b862be409b30d_0": [ { "instruction": "Pick the basket (This object is a basket.) and place it nearby a cup (This object is in dining room. There is/are a plate located below the object.), and nearby a cup (This object is in dining room. There is/are a cup located below the object.).", "condition": [ { "object_attribute": { "instance_id": "cup/model_373e6c99eea721b17fda0a92f349ba70_0", "category": "cup", "room": "4/dinning room", "appearance": null, "relation": [ [ true, "below", "plate" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_2bff5ed1ae8b6e4b7caf74311c694cc6_0", "category": "cup", "room": "4/dinning room", "appearance": null, "relation": [ [ true, "below", "cup" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a cup(This object is in dinning room. There is/are a plate located below the object.), and nearby a cup(This object is in dinning room. There is/are a cup located below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6N6XT4ZVAUTXWPTUK4888888" ] }, { "instruction": "Pick the basket and place it near the pillow, which is soft and fluffy with a slightly uneven surface texture, and near the bed with a TV stand nearby.", "condition": [ { "object_attribute": { "instance_id": "pillow/model_949a20241520e3a70f6b8d0326cdded3_0", "category": "pillow", "room": null, "appearance": [ "The pillow appears to be soft and fluffy, with a slightly uneven surface texture." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_14ddad3997a35a26bb9628084c9e2e84_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a pillow(The pillow appears to be soft and fluffy, with a slightly uneven surface texture.), and nearby a bed( There is/are a tvstand located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_6N6XT4ZVAUTXWPTUK4888888" ] } ], "bottle/model_3f4cec6390ad7a59fe796284bbaa088f_0": [ { "instruction": "Pick the bottle from the corridor and place it in the balcony nearby the plate and the cup.", "condition": [ { "object_attribute": { "instance_id": "plate/model_5eb37edcd71deb1bb114f31165198465_0", "category": "plate", "room": "2/balcony", "appearance": null, "relation": [ [ true, "contain/hold", "plate" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_307646f4f3f56d7630b649e437e42075_0", "category": "cup", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in corridor.)\". The target location is nearby a plate(This object is in balcony. There is/are a plate located contain/hold the object.), and nearby a cup.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6D4M2W4TD5TGKHKSKM888888" ] }, { "instruction": "Pick the bottle from the corridor and place it in the balcony near the curtain and the plant, and also near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_204fdbb42b9dc73ca0eea693b8caeeac_0", "category": "curtain", "room": "7/balcony", "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_d101b7c2a09457340bbf023d3e77e192_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in corridor.)\". The target location is nearby a curtain(This object is in balcony. There is/are a plant located near the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6D4M2W4TD5TGKHKSKM888888" ] } ], "pot/model_78336285a25fc02fc666acc66f5b88b4_0": [ { "instruction": "Pick the pot in the living room and place it nearby the microwave and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "microwave/model_0a75472d927832f61bc099d823c4f512_0", "category": "microwave", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_b0b2f047ad4a360892b0636c8ffddbde_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is nearby a microwave, and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWOFRVAJQXQPTUKE888888" ] }, { "instruction": "Pick the pot from the living room and place it in the bathroom, nearby the mirror and the toilet.", "condition": [ { "object_attribute": { "instance_id": "mirror/model_66d303e88e519ced1ee222e614305143_0", "category": "mirror", "room": "5/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toilet/model_7b28f6f133687e0af0fddc7e918d57c1_0", "category": "toilet", "room": "5/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is nearby a mirror(This object is in bathroom.), and nearby a toilet(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWOFRVAJQXQPTUKE888888" ] } ], "cup/model_5e115ecdb6b4fee9ece2b55b477299ff_0": [ { "instruction": "Pick the cup located in the dining room, near a plate and above a cabinet, and place it in the dining room nearby a chair with nothing above it.", "condition": [ { "object_attribute": { "instance_id": "chair/model_b87ea09713be9a845528a664f12a7528_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_c85741b516507eaec24edffcd2700f0e_0", "category": "chair", "room": "4/dinning room", "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room. There is/are a plate located near the cup. There is/are a cabinet located under the cup.)\". The target location is nearby a chair, and nearby a chair(This object is in dinning room.nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_08_6KV5YMJVAZU4SPTULI888888" ] }, { "instruction": "Pick the cup, which is in the dining room near a plate and above a cabinet, and place it on the chair in the living room near the TV stand.", "condition": [ { "object_attribute": { "instance_id": "chair/model_6ac1a3c14fa9f09fde264dea7b8a437e_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "tvstand/model_fc2bdd6ff103e36bd31c1c233bc07015_0", "category": "tvstand", "room": "6/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room. There is/are a plate located near the cup. There is/are a cabinet located under the cup.)\". The target location is on a chair, and nearby a tvstand(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_08_6KV5YMJVAZU4SPTULI888888" ] } ], "cup/model_25c6ed4940b23ffb384d157374e1046c_0": [ { "instruction": "Pick the cup in the living room and place it on the table near the decoration and the other cup in the living room.", "condition": [ { "object_attribute": { "instance_id": "table/model_5caabb2c65a6c636760dec41d45c276b_0", "category": "table", "room": null, "appearance": null, "relation": [ [ true, "near", "decoration" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cup/model_25c6ed4940b23ffb384d157374e1046c_0", "category": "cup", "room": "6/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in living room.)\". The target location is on a table( There is/are a decoration located near the object.), and nearby a cup(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_11_SBV5GWWO7DSS2OWEL4888888" ] }, { "instruction": "Pick the cup in the living room and place it near the cabinet, which is near a door with a picture nearby and a visible hinge on the left side.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_03d89ac3714f5dbdef54fa3d7f8b2702_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "door/model_dd95b8cef2d3dd2a8683b0247f84f691_0", "category": "door", "room": null, "appearance": [ "There is a visible hinge on the left side." ], "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in living room.)\". The target location is nearby a cabinet(nothing is on the object.), and nearby a door( There is/are a picture located near the object.There is a visible hinge on the left side.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_11_SBV5GWWO7DSS2OWEL4888888" ] } ] }, "MV7J6NIKTKJZ2AABAAAAADY8_usd": { "cup/model_d1ad9c675790611bac5c0602a6d20ac5_0": [ { "instruction": "Pick the cup and place it near the chair in the living room, next to the book with nothing above it.", "condition": [ { "object_attribute": { "instance_id": "chair/model_8c89fb2c2b1ee42698150b5d5ffb4811_0", "category": "chair", "room": "1/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "book/model_b582a1f0bfad711c454eb49b4ccc235f_0", "category": "book", "room": null, "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is nearby a chair(This object is in living room.), and nearby a book(nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_ZU4VGQRVAUQICPTUKI888888" ] }, { "instruction": "Pick the cup and place it on the desk, nearby a book located above the object.", "condition": [ { "object_attribute": { "instance_id": "desk/model_2fd3be3184316979dd938934f8633935_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "book/model_06715766aa450c3ff360c9684dac1bdd_0", "category": "book", "room": null, "appearance": null, "relation": [ [ true, "above", "book" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup.)\". The target location is on a desk, and nearby a book( There is/are a book located above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_ZU4VGQRVAUQICPTUKI888888" ] } ], "light/model_8eb01c9d0c7feb986eedfcba11ffd30b_0": [ { "instruction": "Pick the light from the living room and place it in the dining room, nearby the plant and the blanket.", "condition": [ { "object_attribute": { "instance_id": "plant/model_a73051fec6be102e9acdf31bbf907b7e_0", "category": "plant", "room": "7/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_6a82a00d89d77ffe9830945afd82a94b_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in living room.)\". The target location is nearby a plant(This object is in dinning room.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6IUF4GUTDD52APTULY888888" ] }, { "instruction": "Pick the light from the living room and place it in the dining room, nearby the oven and the plant.", "condition": [ { "object_attribute": { "instance_id": "oven/model_97fa5e4ff19db6d3a78ce6dea2fc7438_0", "category": "oven", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_a73051fec6be102e9acdf31bbf907b7e_0", "category": "plant", "room": "7/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in living room.)\". The target location is nearby a oven, and nearby a plant(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_00_6IUF4GUTDD52APTULY888888" ] } ] }, "MV7J6NIKTKJZ2AABAAAAADI8_usd": { "picture/model_91d6f7bd3387ffa49a896fe682a3b3ae_0": [ { "instruction": "Pick the picture in the study room near the door and place it on the sofa chair near the TV and TV stand.", "condition": [ { "object_attribute": { "instance_id": "sofa_chair/model_421c723501498e3a997debcf40ba36ca_0", "category": "sofa_chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "tv/model_c856cd8c30f7cecb669b18ea3ef7f347_0", "category": "tv", "room": null, "appearance": null, "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in study room. There is/are a door located near the picture.)\". The target location is on a sofa_chair, and nearby a tv( There is/are a tvstand located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_00_66PWJ2UTDZTVQ6L7LM888888", "picture/SM_01_66PWJ2UTDZTVQ6L7LM888888" ] }, { "instruction": "Pick the picture in the study room near the door and place it on the dishwasher, which is nearby the microwave.", "condition": [ { "object_attribute": { "instance_id": "dishwasher/model_dc455ef266417650b30b36f0b5a6c060_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "microwave/model_d2fedf2123ba667b377c31c5ca39d9d5_0", "category": "microwave", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in study room. There is/are a door located near the picture.)\". The target location is on a dishwasher, and nearby a microwave.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_00_66PWJ2UTDZTVQ6L7LM888888", "picture/SM_01_66PWJ2UTDZTVQ6L7LM888888" ] } ], "pan/model_d3500be84c8c7216739f690509680477_0": [ { "instruction": "Pick the pan and place it on the shoecabinet in the corridor, nearby a cabinet.", "condition": [ { "object_attribute": { "instance_id": "shoecabinet/model_ed97f05f54b60263ed7d252996e6d19c_0", "category": "shoecabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_699ee472b56c3ee2d55dd742e0e74c8d_0", "category": "cabinet", "room": "8/corridor", "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a shoecabinet, and nearby a cabinet(This object is in corridor.nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZFE2IPJVAIUEQPTULM888888" ] }, { "instruction": "Pick the pan located near the door in the dining room, and place it on the chair nearby the curtain and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "chair/model_4b3350dfd941a8acd916e828cef14470_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_68239479f33dd493a353b8261ae76090_0", "category": "curtain", "room": "7/dinning room", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a chair( There is/are a door located near the object.), and nearby a curtain(This object is in dinning room. There is/are a cabinet located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZFE2IPJVAIUEQPTULM888888" ] } ], "pot/model_efe4976e69317ada2c1487b0211c64a1_0": [ { "instruction": "Pick the pot and place it near the chest of drawers and the picture.", "condition": [ { "object_attribute": { "instance_id": "chestofdrawers/model_f7402f05c0f7723630d9aff98ad37cbe_0", "category": "chestofdrawers", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "picture/model_e003f259ccbc898ecd2c8d0e58653ae9_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a chestofdrawers, and nearby a picture.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZFE2USRVAJ5MEPTUKM888888" ] }, { "instruction": "Pick the pot and place it nearby a plant.", "condition": [ { "object_attribute": { "instance_id": "plant/model_a50c4424d891b07a57216e0479561135_0", "category": "plant", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_d7446aecaad1a5be17d69d7b69d856fd_0", "category": "plant", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a plant, and nearby a plant.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZFE2USRVAJ5MEPTUKM888888" ] } ] }, "MV7J6NIKTKJZ2AABAAAAAEA8_usd": { "telephone/model_0e941b7787a15120c15900932fd3bf2a_0": [ { "instruction": "Pick the telephone and place it on the chair near the picture.", "condition": [ { "object_attribute": { "instance_id": "chair/model_689b00c1cddbb73833429a1398bbd44c_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "picture/model_56a5e56b686fbd1174a75e915eaedf03_0", "category": "picture", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is telephone(This object is a telephone.)\". The target location is on a chair( There is/are a picture located near the object.), and nearby a picture.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "telephone/SM_01_6IME7GJVAVAS6PTUKA888888" ] }, { "instruction": "Pick the telephone and place it on the teatable, nearby the couch.", "condition": [ { "object_attribute": { "instance_id": "teatable/model_a8a88417cd40452e68be766d422ff6c9_0", "category": "teatable", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "couch/model_d18a3ee5dbacb8d53491db3d094dd2ec_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is telephone(This object is a telephone.)\". The target location is on a teatable, and nearby a couch.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "telephone/SM_01_6IME7GJVAVAS6PTUKA888888" ] } ], "clock/model_677e29e819ce65dc31d1ceb8620e953e_0": [ { "instruction": "Pick the clock and place it on the cabinet in the bathroom, nearby the faucet in the bathroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_81d4e1ff7e2e5cf8c4a2fd447f09557f_0", "category": "cabinet", "room": "8/bathroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "faucet/model_7fe8e1b646f0bd2c522c121e4b95a7cd_0", "category": "faucet", "room": "8/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is clock(This object is a clock.)\". The target location is on a cabinet(This object is in bathroom.), and nearby a faucet(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "clock/SM_01_6GMEJMMTDD52GPTUKU888888" ] }, { "instruction": "Pick the clock located near the chair in the bedroom and place it on the bed.", "condition": [ { "object_attribute": { "instance_id": "bed/model_8c326f20d4b98ee7e0e33f6db73e3224_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "chair" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_87d364b1433c9d8bbd0848587685ba50_0", "category": "chair", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is clock(This object is a clock.)\". The target location is on a bed( There is/are a chair located near the object.), and nearby a chair(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "clock/SM_01_6GMEJMMTDD52GPTUKU888888" ] } ], "backpack/model_3f99b44a34f7c6c935c508293a194502_0": [ { "instruction": "Pick the backpack and place it on the chair in the bedroom, nearby the cabinet.", "condition": [ { "object_attribute": { "instance_id": "chair/model_87d364b1433c9d8bbd0848587685ba50_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_de43aacc904ddb4d3c7761ffe59384bb_0", "category": "cabinet", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack.)\". The target location is on a chair, and nearby a cabinet(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6F6WNM4TDD52CPTUKU888888" ] }, { "instruction": "Pick the backpack and place it near the towel with a band of ribbed detailing along one edge, and near the bed with a door located nearby.", "condition": [ { "object_attribute": { "instance_id": "towel/model_a9e233547966e2c05b55c67986ce5768_0", "category": "towel", "room": null, "appearance": [ "There is a band of ribbed detailing running along one edge." ], "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bed/model_e26e4c16158005d3419bb4f9b1a64626_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack.)\". The target location is nearby a towel(nothing is on the object.There is a band of ribbed detailing running along one edge.), and nearby a bed( There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6F6WNM4TDD52CPTUKU888888" ] } ], "picture/model_56a5e56b686fbd1174a75e915eaedf03_0": [ { "instruction": "Pick the picture from the dining room and place it in the bedroom, nearby the cabinet and the shoe.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_de43aacc904ddb4d3c7761ffe59384bb_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_1eb6496194754e73b10c2a31f14ad553_0", "category": "shoe", "room": "1/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in dinning room.)\". The target location is nearby a cabinet, and nearby a shoe(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_03_Z422R3ZVAIBFGPTULU888888" ] }, { "instruction": "Pick the picture in the dining room and place it on the chair in the study room near the book.", "condition": [ { "object_attribute": { "instance_id": "chair/model_9a9c824afbcd4f70c691d2904c8739da_0", "category": "chair", "room": "4/study room", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "book/model_c05aa1e6873acd469149e833aa910439_0", "category": "book", "room": "4/study room", "appearance": null, "relation": [ [ true, "under", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in dinning room.)\". The target location is on a chair(This object is in study room. There is/are a door located near the object.), and nearby a book(This object is in study room.nothing is under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_03_Z422R3ZVAIBFGPTULU888888" ] } ], "bottle/model_dd1758f4b5a988f5af35a15cd4b92ae8_0": [ { "instruction": "Pick the bottle and place it on the cabinet in the bathroom, nearby the faucet in the bathroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_81d4e1ff7e2e5cf8c4a2fd447f09557f_0", "category": "cabinet", "room": "8/bathroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "faucet/model_7fe8e1b646f0bd2c522c121e4b95a7cd_0", "category": "faucet", "room": "8/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is on a cabinet(This object is in bathroom.), and nearby a faucet(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_ZUSXUBBVAX3DKPTULI888888" ] }, { "instruction": "Pick the bottle and place it near the cabinet and the rolled-up towel.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_de29d17f67a7bd9f2f0fae5833642f13_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "towel/model_a9e233547966e2c05b55c67986ce5768_0", "category": "towel", "room": null, "appearance": [ "It is rolled up into a cylindrical shape." ], "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is nearby a cabinet, and nearby a towel(nothing is on the object.It is rolled up into a cylindrical shape.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_01_ZUSXUBBVAX3DKPTULI888888" ] } ] }, "MV7J6NIKTKJZ2AABAAAAADQ8_usd": { "clock/model_bf679119ea2cb383756475ddc0dcca04_0": [ { "instruction": "Pick the clock located in the bedroom and place it on the nightstand near the cabinet and door.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_505398f9bc170435c30c52913d0e3fb6_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_c3e6bb431a3e6492e667d6961d6d296b_0", "category": "cabinet", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is clock(This object is a clock.)\". The target location is on a nightstand( There is/are a cabinet located near the object.), and nearby a cabinet(This object is in bedroom. There is/are a door located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "clock/SM_01_6ETT4TUTD5TGKFKZKE888888" ] }, { "instruction": "Pick the clock and place it nearby the bottle and decoration in the dining room.", "condition": [ { "object_attribute": { "instance_id": "bottle/model_249abb9594802e414fb495562c52cdbe_0", "category": "bottle", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_a9621c7011413cdca3269942fbe92d00_0", "category": "decoration", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is clock(This object is a clock.)\". The target location is nearby a bottle, and nearby a decoration(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "clock/SM_01_6ETT4TUTD5TGKFKZKE888888" ] } ], "laptop/model_a94ba9fddd8cdcb95adcb18e839d467d_0": [ { "instruction": "Pick the laptop and place it near the cabinet in the bathroom, close to the towel and the mirror.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_dcce8b6be71726dd6b6a9a46458f1907_0", "category": "cabinet", "room": "5/bathroom", "appearance": null, "relation": [ [ true, "near", "towel" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "mirror/model_79e72028c78713a901a5dafce9d1a465_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is nearby a cabinet(This object is in bathroom. There is/are a towel located near the object.), and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZEO6STJVAI3Y2PTULM888888" ] }, { "instruction": "Pick the laptop and place it on the chair in the dining room, and then place it nearby the chair in the dining room.", "condition": [ { "object_attribute": { "instance_id": "chair/model_0b53f6b7156db2ba5773a4ce736d931e_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_07eee94467f158851e3ec1ad66ff2b50_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is on a chair(This object is in dinning room.nothing is below the object.), and nearby a chair(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZEO6STJVAI3Y2PTULM888888" ] } ], "cup/model_97a5d8ffa4e5197d728307133fb6cca4_0": [ { "instruction": "Pick the cup from the dining room and place it on the TV stand in the living room, near the curtain and decoration.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_0cc2991a6e4938f4dabcca576d78eb94_0", "category": "tvstand", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_ceeb2277305dc9ed257933bc550fed18_0", "category": "curtain", "room": "1/living room", "appearance": null, "relation": [ [ true, "near", "decoration" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room.)\". The target location is on a tvstand, and nearby a curtain(This object is in living room. There is/are a decoration located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6H6I4TJVAZV5CPTULI888888" ] }, { "instruction": "Pick the cup from the dining room and place it on the nightstand near the bed.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_126df572c7fefdf156362f49daf74117_0", "category": "nightstand", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_8ea15953edfde395bb8c1d7ed1bc3c92_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in dinning room.)\". The target location is on a nightstand, and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6H6I4TJVAZV5CPTULI888888" ] } ], "pan/model_a8f5c3f9f82cd71f2eb6784ddfd7c09d_0": [ { "instruction": "Pick the pan and place it near the chair and the trashcan in the kitchen.", "condition": [ { "object_attribute": { "instance_id": "chair/model_b9df8dc366578196d03c8920d7fbcefb_0", "category": "chair", "room": "2/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "trashcan/model_18d23a30fa0c149479d8984d5afa5afa_0", "category": "trashcan", "room": "2/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is nearby a chair(This object is in kitchen.), and nearby a trashcan(This object is in kitchen.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZFE2YVZVAII3IPTUKE888888" ] }, { "instruction": "Pick the pan and place it on the shelf near the door.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_097c865b52a3fa566e3a6e802cab5e47_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "door/model_41d48d90e18f9176c2dd869db4e8db57_0", "category": "door", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pan(This object is a pan.)\". The target location is on a shelf, and nearby a door.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pan/SM_01_ZFE2YVZVAII3IPTUKE888888" ] } ], "backpack/model_e883e28f0fdd4a6163b9b6198f5d0b80_0": [ { "instruction": "Pick the backpack in the dining room and place it on the chair near the plant.", "condition": [ { "object_attribute": { "instance_id": "chair/model_0b53f6b7156db2ba5773a4ce736d931e_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "chair/model_54bb55f2e14ed07589e4a0bd842736ea_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": [ [ true, "near", "plant" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack.)\". The target location is on a chair, and nearby a chair(This object is in dinning room. There is/are a plant located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6F6WNM4TDD52CPTUKU888888" ] }, { "instruction": "Pick the backpack and place it nearby a light and a chair, ensuring nothing is below the object.", "condition": [ { "object_attribute": { "instance_id": "light/model_f8c79bb081669534ff613b9a96c54af5_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_0b53f6b7156db2ba5773a4ce736d931e_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is backpack(This object is a backpack.)\". The target location is nearby a light, and nearby a chair(nothing is below the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "backpack/SM_01_6F6WNM4TDD52CPTUKU888888" ] } ], "cup/model_8ca2bdc7e6d147bb2e9844725dad2943_0": [ { "instruction": "Pick the cup from the kitchen and place it on the nightstand near the bed.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_505398f9bc170435c30c52913d0e3fb6_0", "category": "nightstand", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_0a85b986de35ccfdec7c686d791fd747_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in kitchen.)\". The target location is on a nightstand, and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6MLYLYZVAJ366PTUK4888888" ] }, { "instruction": "Pick the cup from the kitchen and place it near the shoe and the decoration in the dining room.", "condition": [ { "object_attribute": { "instance_id": "shoe/model_afe524aa965adbf88370751397e30b89_0", "category": "shoe", "room": null, "appearance": null, "relation": [ [ true, "near", "decoration" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_a9621c7011413cdca3269942fbe92d00_0", "category": "decoration", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. This object is in kitchen.)\". The target location is nearby a shoe( There is/are a decoration located near the object.), and nearby a decoration(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6MLYLYZVAJ366PTUK4888888" ] } ], "pot/model_8b87a0d501acf6637f1d7c242b027633_0": [ { "instruction": "Pick the pot and place it near the trashcan in the kitchen, close to the faucet.", "condition": [ { "object_attribute": { "instance_id": "trashcan/model_18d23a30fa0c149479d8984d5afa5afa_0", "category": "trashcan", "room": "2/kitchen", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "faucet/model_a8f7982225b3f24a391ad4561ea32431_0", "category": "faucet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a trashcan(This object is in kitchen.), and nearby a faucet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZFE5SFBVAJTKOPTUKQ888888" ] }, { "instruction": "Pick the pot and place it in the living room near the curtain where there is a picture.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_6447d171dfa679e05dd26cbab487ec4b_0", "category": "curtain", "room": "1/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_e0acff7d7c1d7272768b9a13248a2e76_0", "category": "curtain", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot.)\". The target location is nearby a curtain(This object is in living room.), and nearby a curtain( There is/are a picture located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_01_ZFE5SFBVAJTKOPTUKQ888888" ] } ], "light/model_f8c79bb081669534ff613b9a96c54af5_0": [ { "instruction": "Pick the light in the dining room and place it near the picture and the chair in the dining room.", "condition": [ { "object_attribute": { "instance_id": "chair/model_edbe37273421ec3544dd208cf1f1580c_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "chair/model_9ab8d1e7a63f6f61ad5a6c780b629f84_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a chair( There is/are a picture located near the object.), and nearby a chair(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6PRARKJVAVHSCPTULQ888888" ] }, { "instruction": "Pick the light from the dining room and place it near the cabinet with the plant.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_a8f9344714cbaceb84a45050c95be753_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "in", "plant" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_88bb09c6bf53f7b7cccba1eb5a9ce740_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a cabinet( There is/are a plant located in the object.), and nearby a cabinet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_01_6PRARKJVAVHSCPTULQ888888" ] } ], "picture/model_6cf3eb594c6954ed7ad5fb787b89b639_0": [ { "instruction": "Pick the picture in the bedroom and place it on the stool in the bedroom, near the nightstand with a cabinet nearby.", "condition": [ { "object_attribute": { "instance_id": "stool/model_7ce52a4392cf5485f77ed4ed2d7f9a0b_0", "category": "stool", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "nightstand/model_505398f9bc170435c30c52913d0e3fb6_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom.)\". The target location is on a stool(This object is in bedroom.), and nearby a nightstand( There is/are a cabinet located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6GQFOYETD5TGGPTUKU888888" ] }, { "instruction": "Pick the picture in the bedroom and place it on the nightstand near the cabinet and trashcan.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_505398f9bc170435c30c52913d0e3fb6_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "trashcan/model_512e2634cff76f4e59bf6fb3fc887823_0", "category": "trashcan", "room": "0/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bedroom.)\". The target location is on a nightstand( There is/are a cabinet located near the object.), and nearby a trashcan(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6GQFOYETD5TGGPTUKU888888" ] } ], "mouse/model_4e80a4fc01bd871d4f8ab09cdc897aa9_0": [ { "instruction": "Pick the mouse and place it nearby a chair and a light in the dining room.", "condition": [ { "object_attribute": { "instance_id": "chair/model_0b53f6b7156db2ba5773a4ce736d931e_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "light/model_f8c79bb081669534ff613b9a96c54af5_0", "category": "light", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is mouse(This object is a mouse.)\". The target location is nearby a chair, and nearby a light(This object is in dinning room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "mouse/SM_01_ZEMPO5RVAJSQIPTUL4888888" ] }, { "instruction": "Pick the mouse and place it nearby the couch and window.", "condition": [ { "object_attribute": { "instance_id": "couch/model_776dc90ae9f4c0f8429a748a2078748d_0", "category": "couch", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_6b4a33b1fa98bb87240cd1c9d3809478_0", "category": "window", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is mouse(This object is a mouse.)\". The target location is nearby a couch, and nearby a window.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "mouse/SM_01_ZEMPO5RVAJSQIPTUL4888888" ] } ] }, "MV7J6NIKTKJZ2AABAAAAADA8_usd": { "bowl/model_f6382b1d309b8a810d4ec0d0c4b9d72d_0": [ { "instruction": "Pick the bowl located near the window and place it on the nightstand near the pillow and the cabinet.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_b630d155c5ef47d3bee26ff3be755280_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_79dffb445894435587d3241331afa3de_0", "category": "pillow", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. There is/are a window located near the bowl.)\". The target location is on a nightstand( There is/are a cabinet located near the object.), and nearby a pillow( There is/are a cabinet located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_38_6JLDCIZVAZWGUPTUJQ888888" ] } ], "bowl/model_835e5ddadbbc5cac554b8ff80a843754_0": [ { "instruction": "Pick up the bowl, which has another bowl inside it, and place it on the washing machine near the mirror. There is a cabinet located near and above the bowl, and a chair located near the bowl.", "condition": [ { "object_attribute": { "instance_id": "washingmachine/model_4ccdcfde6a7f0a3ff4c6bff6b8a47c43_0", "category": "washingmachine", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_c175d74dc53d065c9616a2d7272d2712_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. There is/are a cabinet located near the bowl. There is/are a chair located near the bowl. There is/are a cabinet located above the bowl. nothing is on the bowl. There is/are 1 another bowl located in the bowl.)\". The target location is on a washingmachine, and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_09_6H7K5UMTDD52APTUKQ888888", "bowl/SM_11_6H7K5UMTDD52APTUKQ888888", "bowl/SM_12_6H7K5UMTDD52APTUKQ888888", "bowl/SM_17_6H7K5UMTDD52APTUKQ888888", "bowl/SM_27_6H7K5UMTDD52APTUKQ888888", "bowl/SM_40_6KZMCFJVAZUSYPTUJU888888" ] }, { "instruction": "Pick the bowl that has another bowl inside it, which is near a cabinet, a chair, and below another cabinet. Place it near a plate that can hold the object and near another bowl.", "condition": [ { "object_attribute": { "instance_id": "plate/model_4d0b57e28a379625a640b432939960d3_0", "category": "plate", "room": null, "appearance": null, "relation": [ [ true, "contain/hold", "plate" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bowl/model_f6382b1d309b8a810d4ec0d0c4b9d72d_0", "category": "bowl", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bowl(This object is a bowl. There is/are a cabinet located near the bowl. There is/are a chair located near the bowl. There is/are a cabinet located above the bowl. nothing is on the bowl. There is/are 1 another bowl located in the bowl.)\". The target location is nearby a plate( There is/are a plate located contain/hold the object.), and nearby a bowl.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bowl/SM_09_6H7K5UMTDD52APTUKQ888888", "bowl/SM_11_6H7K5UMTDD52APTUKQ888888", "bowl/SM_12_6H7K5UMTDD52APTUKQ888888", "bowl/SM_17_6H7K5UMTDD52APTUKQ888888", "bowl/SM_27_6H7K5UMTDD52APTUKQ888888", "bowl/SM_40_6KZMCFJVAZUSYPTUJU888888" ] } ], "plate/model_b6b279a4dd4bd8b3f4953fca800aca67_0": [ { "instruction": "Pick the plate located near the cabinet, chair, and bowl, and place it on the chair in the dining room, nearby the towel in the dining room.", "condition": [ { "object_attribute": { "instance_id": "chair/model_2096523e02233b46c58a8ae3e65e9cd6_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "towel/model_b07085eeaca6348e3b603b77fa97143b_0", "category": "towel", "room": "6/dinning room", "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate. There is/are a chair located near the plate. There is/are a bowl located near the plate.)\". The target location is on a chair(This object is in dinning room.), and nearby a towel(This object is in dinning room.nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_28_6KZMCJBVAVGTEPTUKU888888" ] }, { "instruction": "Pick the plate located near the cabinet, chair, and bowl, and place it nearby the cabinet and decoration.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_f72edcf5eed1da98a84cc045f3a0fe1b_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "decoration/model_65e4b2ed5c0b8dad93444af150d4d698_0", "category": "decoration", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate. There is/are a chair located near the plate. There is/are a bowl located near the plate.)\". The target location is nearby a cabinet, and nearby a decoration.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_28_6KZMCJBVAVGTEPTUKU888888" ] } ], "pillow/model_fd19fbe9bc625e175917e78b747bd35b_0": [ { "instruction": "Pick the pillow in the bedroom, which is near some clothes and has nothing below it, and place it on the chair in the dining room, which is nearby a plate.", "condition": [ { "object_attribute": { "instance_id": "chair/model_4e75fd81e6a7bb9af0b6380fff35df79_0", "category": "chair", "room": "6/dinning room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plate/model_0e528234d39bf291e772ec669b00e4f8_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a clothes located near the pillow. nothing is below the pillow.)\". The target location is on a chair(This object is in dinning room.), and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_06_6FMSZHETD5TGGPTUK4888888", "pillow/SM_07_6K7PH2RVAVUHCPTUKA888888" ] }, { "instruction": "Pick the pillow in the bedroom, which has clothes nearby, and place it near the bowl, which is located under the target object.", "condition": [ { "object_attribute": { "instance_id": "bowl/model_2c7d0b0c24db25dddca8b95a3eed45db_0", "category": "bowl", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "bowl/model_bb61aa39ac80b703a1b54bfdff12561f_0", "category": "bowl", "room": null, "appearance": null, "relation": [ [ true, "under", "bowl" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. This object is in bedroom. There is/are a clothes located near the pillow. nothing is below the pillow.)\". The target location is nearby a bowl, and nearby a bowl( There is/are a bowl located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_06_6FMSZHETD5TGGPTUK4888888", "pillow/SM_07_6K7PH2RVAVUHCPTUKA888888" ] } ], "plate/model_ee9c0764a20274e6b32bb0c62a7a0201_0": [ { "instruction": "Pick the plate located near the cabinet, chair, and electric cooker, and place it on the nightstand near the pillow.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_627f5d31c8996749a1f33bfef27562f3_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "pillow" ] ] }, "sample_relation": "on" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate. There is/are a chair located near the plate. There is/are a electriccooker located near the plate.)\". The target location is on a nightstand( There is/are a pillow located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_17_SMEVPTOO7DSS2DEDJQ888888" ] }, { "instruction": "Pick the plate located near the cabinet, chair, and electric cooker, and place it on the bed near the curtain and TV stand.", "condition": [ { "object_attribute": { "instance_id": "bed/model_a9459386053d1999873e9e781307bc13_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "curtain" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_0367d12fd5ee02abe7b69334608aae47_0", "category": "curtain", "room": null, "appearance": null, "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate. There is/are a chair located near the plate. There is/are a electriccooker located near the plate.)\". The target location is on a bed( There is/are a curtain located near the object.), and nearby a curtain( There is/are a tvstand located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_17_SMEVPTOO7DSS2DEDJQ888888" ] } ], "plate/model_9536648c50ee1bb44077edfc1c2c9b6c_0": [ { "instruction": "Pick the plate located near the cabinet and dishwasher, and place it on the microwave near the dishwasher.", "condition": [ { "object_attribute": { "instance_id": "microwave/model_8d35b10c3b1880b405e4a4ecd83edc7f_0", "category": "microwave", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "dishwasher/model_d887aa45d2bf3c36b5797da16bf28a0d_0", "category": "dishwasher", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate. There is/are a dishwasher located near the plate.)\". The target location is on a microwave, and nearby a dishwasher.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_27_6KZMCJBVAVGTEPTUKU888888" ] }, { "instruction": "Pick up the plate located near the cabinet and dishwasher, and place it nearby the laptop and shelf.", "condition": [ { "object_attribute": { "instance_id": "laptop/model_8bb5be69d40b9962e2eb20a89b331f73_0", "category": "laptop", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shelf/model_45a782daf5181ef2fc9420ae20e60f3c_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate. There is/are a dishwasher located near the plate.)\". The target location is nearby a laptop, and nearby a shelf.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_27_6KZMCJBVAVGTEPTUKU888888" ] } ], "tray/model_fd9cdb64d2f8ac3d3c9c576344a03ecb_0": [ { "instruction": "Pick the tray and place it near the plate and the cup.", "condition": [ { "object_attribute": { "instance_id": "plate/model_e348c612c20a53cd8258d97eebe8cece_0", "category": "plate", "room": null, "appearance": null, "relation": [ [ true, "in", "plate" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_ac77f6fbcfab7277cbca8de6ae982d44_0", "category": "cup", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is nearby a plate( There is/are a plate located in the object.), and nearby a cup.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_01_6IB3DYJVAZWEEPTUJQ888888" ] }, { "instruction": "Pick the tray and place it near the chair and the faucet.", "condition": [ { "object_attribute": { "instance_id": "chair/model_cf8bf996b4a41f8d389eca75d7782d17_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "faucet/model_893d5289474261a2fb1bcfc74f7e491f_0", "category": "faucet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is tray(This object is a tray.)\". The target location is nearby a chair, and nearby a faucet.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "tray/SM_01_6IB3DYJVAZWEEPTUJQ888888" ] } ], "bottle/model_1f3a3f56a624361c98fc37e723ef2b52_0": [ { "instruction": "Pick the bottle from the bedroom and place it on the desk near the bed.", "condition": [ { "object_attribute": { "instance_id": "desk/model_dc740e0ecd977814bd93ce2c0a2c0b7f_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_a9459386053d1999873e9e781307bc13_0", "category": "bed", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is on a desk, and nearby a bed.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_07_6PYGE6RVAV6OSPTUKU888888" ] }, { "instruction": "Pick the bottle in the bedroom and place it on the bed near the cabinet and the tvstand, with a curtain nearby.", "condition": [ { "object_attribute": { "instance_id": "bed/model_a9459386053d1999873e9e781307bc13_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "curtain" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "cabinet/model_3802c64f1d64d6b6e70831b2be69a863_0", "category": "cabinet", "room": "3/bedroom", "appearance": null, "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom.)\". The target location is on a bed( There is/are a curtain located near the object.), and nearby a cabinet(This object is in bedroom. There is/are a tvstand located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_07_6PYGE6RVAV6OSPTUKU888888" ] } ], "plate/model_c9bf8fa85f3141ae511a9bfb03bf7a32_0": [ { "instruction": "Pick the plate that is in the cabinet, near a window, another plate, and a bowl, with another plate on top of it, and place it on the chair in the bedroom, which is near a cabinet and a desk.", "condition": [ { "object_attribute": { "instance_id": "chair/model_5298d3fe01fc207884c6633f915b8d76_0", "category": "chair", "room": "0/bedroom", "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "desk/model_64a72e14d9b7e061a46e6fc802452525_0", "category": "desk", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a window located near the plate. There is/are 1 another plate located near the plate. There is/are a bowl located near the plate. There is/are a cabinet located contain/hold the plate. There is/are 1 another plate located on the plate.)\". The target location is on a chair(This object is in bedroom. There is/are a cabinet located near the object.), and nearby a desk.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_18_6H7I7PBVAZS36PTUKE888888", "plate/SM_21_6H7I7PBVAZS36PTUKE888888", "plate/SM_22_6H7I7PBVAZS36PTUKE888888", "plate/SM_23_6H7I7PBVAZS36PTUKE888888", "plate/SM_24_6H7I7PBVAZS36PTUKE888888", "plate/SM_26_6KZMCJBVAVGTEPTUKU888888" ] }, { "instruction": "Pick the plate, which is near a window, another plate, a bowl, and is in a cabinet with another plate on it. Place it near an electric cooker and a plate.", "condition": [ { "object_attribute": { "instance_id": "electriccooker/model_a461b973dc0f27ddd06ac68587ab9323_0", "category": "electriccooker", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plate/model_ee9c0764a20274e6b32bb0c62a7a0201_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a window located near the plate. There is/are 1 another plate located near the plate. There is/are a bowl located near the plate. There is/are a cabinet located contain/hold the plate. There is/are 1 another plate located on the plate.)\". The target location is nearby a electriccooker, and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_18_6H7I7PBVAZS36PTUKE888888", "plate/SM_21_6H7I7PBVAZS36PTUKE888888", "plate/SM_22_6H7I7PBVAZS36PTUKE888888", "plate/SM_23_6H7I7PBVAZS36PTUKE888888", "plate/SM_24_6H7I7PBVAZS36PTUKE888888", "plate/SM_26_6KZMCJBVAVGTEPTUKU888888" ] } ], "cup/model_7a48f717b383883432c89a34f6b25f2f_0": [ { "instruction": "Pick the cup located near a cabinet and a chair, and place it on the chair near a bowl and a plate.", "condition": [ { "object_attribute": { "instance_id": "chair/model_b3ad650be1eac49c2849109d2b90c147_0", "category": "chair", "room": null, "appearance": null, "relation": [ [ true, "near", "bowl" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plate/model_3346a827d13afadc7a1b4b712cce6b30_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a cabinet located near the cup. There is/are a chair located near the cup.)\". The target location is on a chair( There is/are a bowl located near the object.), and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_20_SIXLMRGO7PRR6IRELU888888" ] }, { "instruction": "Pick the cup located near the cabinet and chair, and place it near the tvstand in the bedroom, which is near the door and the curtain with a hem.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_6b9d96dd8c61f14f3a4a0fa5914dae82_0", "category": "tvstand", "room": "3/bedroom", "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_419a2f220952ca772f2fbf99e0e1295f_0", "category": "curtain", "room": null, "appearance": [ "The bottom edge of the curtain is finished with a hem." ], "relation": [ [ true, "near", "tvstand" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a cabinet located near the cup. There is/are a chair located near the cup.)\". The target location is nearby a tvstand(This object is in bedroom. There is/are a door located near the object.), and nearby a curtain( There is/are a tvstand located near the object.The bottom edge of the curtain is finished with a hem.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_20_SIXLMRGO7PRR6IRELU888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAAAY8_usd": { "pillow/model_c21d590b6ef8030e007bc2a5f9939cf8_0": [ { "instruction": "Pick the pillow located near the chair and place it on the table near the bed and light.", "condition": [ { "object_attribute": { "instance_id": "table/model_1403efa38cfa05eb8d510f0ed4ad8c34_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bed/model_a587d457d89b2423b24d22a1e4ae2676_0", "category": "bed", "room": null, "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow.)\". The target location is on a table, and nearby a bed( There is/are a light located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_04_6GYC5WETDD522PTUJQ888888" ] }, { "instruction": "Pick the pillow near the chair and place it by the towel on the object near the curtain in the bathroom.", "condition": [ { "object_attribute": { "instance_id": "towel/model_441ee0d9113401eddfb602e3280dad73_0", "category": "towel", "room": null, "appearance": null, "relation": [ [ true, "on", "towel" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "curtain/model_2bedd71302f215015c8e4073fcf583d7_0", "category": "curtain", "room": "7/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a chair located near the pillow.)\". The target location is nearby a towel( There is/are a towel located on the object.), and nearby a curtain(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_04_6GYC5WETDD522PTUJQ888888" ] } ], "bottle/model_7f0ab925cdb2a92993dfb56481f0f974_0": [ { "instruction": "Pick the bottle and place it near the towel in the bathroom by the window.", "condition": [ { "object_attribute": { "instance_id": "towel/model_07360191d9df691a742ae2a1f062fa1e_0", "category": "towel", "room": null, "appearance": null, "relation": [ [ true, "on", "towel" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_872a1a74e39c403f04c729974bc79185_0", "category": "window", "room": "7/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is nearby a towel( There is/are a towel located on the object.), and nearby a window(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6D4M2W4TD5TGKHKSKM888888" ] }, { "instruction": "Pick the bottle and place it on the shelf in the bathroom near the window and the blanket.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_d72e1ee3206bd1e6fcc56df44466f19d_0", "category": "shelf", "room": "4/bathroom", "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_f7469cc5264dcc567c43b1f7163bff3c_0", "category": "blanket", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle.)\". The target location is on a shelf(This object is in bathroom. There is/are a window located near the object.), and nearby a blanket.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_6D4M2W4TD5TGKHKSKM888888" ] } ], "toy/model_3b15f4ec1e46dade342c28974f191ffa_0": [ { "instruction": "Pick the toy and place it nearby a shelf and a shoe.", "condition": [ { "object_attribute": { "instance_id": "shelf/model_e37e61468022f5dcb48a98a79d366327_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "shoe/model_84a096d6ec204ae10f3fd68993e2a68d_0", "category": "shoe", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy.)\". The target location is nearby a shelf, and nearby a shoe.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_01_ZEOONWBVAIJFSPTUKQ888888" ] }, { "instruction": "Pick the toy and place it on the tvstand in the living room, near the light.", "condition": [ { "object_attribute": { "instance_id": "tvstand/model_06092a95ba89d5641a4f86752edd3dff_0", "category": "tvstand", "room": "1/living room", "appearance": null, "relation": [ [ true, "near", "light" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "light/model_a227ea0969bdcec63948340fbf92819e_0", "category": "light", "room": "1/living room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is toy(This object is a toy.)\". The target location is on a tvstand(This object is in living room. There is/are a light located near the object.), and nearby a light(This object is in living room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "toy/SM_01_ZEOONWBVAIJFSPTUKQ888888" ] } ], "pillow/model_80a3be2eaaadb818b3a0e3257891b05e_0": [ { "instruction": "Pick the pillow located near the cabinet and place it nearby the sink and washing machine.", "condition": [ { "object_attribute": { "instance_id": "sink/model_661eded5b53234a37ab3ea0211f97edd_0", "category": "sink", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "washingmachine/model_e34eadd3ccc8f31fe7e04496191a7c0a_0", "category": "washingmachine", "room": null, "appearance": null, "relation": [ [ true, "in", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a cabinet located near the pillow.)\". The target location is nearby a sink, and nearby a washingmachine(nothing is in the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_07_6M4HWXRVAVC6YPTULA888888", "pillow/SM_09_6M4HWXRVAVC6YPTULA888888", "pillow/SM_12_6M4HWXRVAVC6YPTULA888888" ] }, { "instruction": "Pick the pillow near the cabinet and place it on the cabinet near the mirror and the decoration in the cloakroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_5ccd9cd059ea0ac2ef5d6903173e9996_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "mirror" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "decoration/model_5003c340dd88274c0eb0c71013d564ca_0", "category": "decoration", "room": "10/cloakroom", "appearance": [ "The butterfly has two wings and antennae." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a cabinet located near the pillow.)\". The target location is on a cabinet( There is/are a mirror located near the object.), and nearby a decoration(This object is in cloakroom.The butterfly has two wings and antennae.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_07_6M4HWXRVAVC6YPTULA888888", "pillow/SM_09_6M4HWXRVAVC6YPTULA888888", "pillow/SM_12_6M4HWXRVAVC6YPTULA888888" ] } ], "basket/model_6c68230d67112b1dfd2bd7fa9322c756_0": [ { "instruction": "Pick the basket and place it nearby the cabinet with a groove running along its length in the bathroom with a metal handle on the right side of the door.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_a371797efe4514540f6c27f10922f60b_0", "category": "cabinet", "room": null, "appearance": [ "The component has a groove running along its length." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_278d167f6af7548bcc61f09687a60b7c_0", "category": "cabinet", "room": "4/bathroom", "appearance": [ "The door has a metal handle on the right side." ], "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a cabinet(The component has a groove running along its length.), and nearby a cabinet(This object is in bathroom.The door has a metal handle on the right side.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_VdRKSUNnRUMDygBBAAAA" ] }, { "instruction": "Pick the basket and place it near the toilet (bowl, tank, seat, lid, flush mechanism) and the sink (nothing above).", "condition": [ { "object_attribute": { "instance_id": "toilet/model_d9422547046c43d906e77d53175e7c79_0", "category": "toilet", "room": null, "appearance": [ "The subcomponents include the bowl, tank, seat, lid, and flush mechanism." ], "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "sink/model_3fa6a56e1956883e8bf91ac1f697420f_0", "category": "sink", "room": null, "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is basket(This object is a basket.)\". The target location is nearby a toilet(The subcomponents include the bowl, tank, seat, lid, and flush mechanism.), and nearby a sink(nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "basket/SM_00_VdRKSUNnRUMDygBBAAAA" ] } ], "pillow/model_ee94feaa8d2b3538f9d5dc7ef4e53d69_0": [ { "instruction": "Pick the pillow, which is near a book and a TV, and place it near the towel, which is near a window with a towel nearby.", "condition": [ { "object_attribute": { "instance_id": "towel/model_d0216be964d1f468c806a5697da46fb8_0", "category": "towel", "room": null, "appearance": null, "relation": [ [ true, "on", "nothing" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "window/model_872a1a74e39c403f04c729974bc79185_0", "category": "window", "room": null, "appearance": null, "relation": [ [ true, "near", "towel" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a book located near the pillow. There is/are a tv located near the pillow.)\". The target location is nearby a towel(nothing is on the object.), and nearby a window( There is/are a towel located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_15_6HI26AETDD52EPTUKY888888", "pillow/SM_16_6HI26AETDD52EPTUKY888888" ] }, { "instruction": "Pick the pillow, which is near a book and a TV, and place it on the cabinet in the balcony, near the shelf.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_1cca7fd04e518dcbb7fbf4289828a65c_0", "category": "cabinet", "room": "0/balcony", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "shelf/model_2747f67b9c588914fffd359c67067c1f_0", "category": "shelf", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a book located near the pillow. There is/are a tv located near the pillow.)\". The target location is on a cabinet(This object is in balcony.), and nearby a shelf.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_15_6HI26AETDD52EPTUKY888888", "pillow/SM_16_6HI26AETDD52EPTUKY888888" ] } ] }, "MVUCSQAKTKJ5EAABAAAAAAA8_usd": { "pot/model_5b9413363af0ee062076c4b27c843661_0": [ { "instruction": "Pick the pot from the kitchen and place it on the cabinet near the pillow.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_3b568bc391e96566dae44311a1ed1178_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "below", "nothing" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pillow/model_e2fbcb29d014f9d0ac6dd075bbfac487_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in kitchen.)\". The target location is on a cabinet(nothing is below the object.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWOFRVAJQXQPTUKE888888" ] }, { "instruction": "Pick the pot from the kitchen and place it on the cabinet in the balcony, nearby the mirror.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_91159c28a1f44f95e535f4b8eba7b9cc_0", "category": "cabinet", "room": "7/balcony", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "mirror/model_5de4b8c03c09d53fc5e3887b585bb187_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in kitchen.)\". The target location is on a cabinet(This object is in balcony.), and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_02_ZEMWOFRVAJQXQPTUKE888888" ] } ], "pot/model_40a3d12f438e6d4930a9a01abb864421_0": [ { "instruction": "Pick the pot from the living room and place it nearby a plate and a cup, ensuring nothing is above the pot.", "condition": [ { "object_attribute": { "instance_id": "plate/model_9ca667a2aa48b3a2ae92b516815cfcbe_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cup/model_e1065ee1158cfb45168226ff964471e4_0", "category": "cup", "room": null, "appearance": null, "relation": [ [ true, "above", "nothing" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is nearby a plate, and nearby a cup(nothing is above the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_00_6H7GRZBVAZU2APTUKM888888" ] }, { "instruction": "Pick the pot in the living room and place it on the table in the living room, nearby a pot.", "condition": [ { "object_attribute": { "instance_id": "table/model_3612fb3964fa918641e31ce5e26985c9_0", "category": "table", "room": "6/living room", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "pot/model_40a3d12f438e6d4930a9a01abb864421_0", "category": "pot", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pot(This object is a pot. This object is in living room.)\". The target location is on a table(This object is in living room.), and nearby a pot.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pot/SM_00_6H7GRZBVAZU2APTUKM888888" ] } ], "bottle/model_2db055aa21d05c5f7d98bf4304a9a198_0": [ { "instruction": "Pick the bottle located in the bedroom near the plant and place it on the stool near the trashcan.", "condition": [ { "object_attribute": { "instance_id": "stool/model_f4c91330356bff5af0755f698e5e40a1_0", "category": "stool", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "trashcan/model_d47a9151fbd6bc6f06dc59252e407c87_0", "category": "trashcan", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom. There is/are a plant located near the bottle.)\". The target location is on a stool, and nearby a trashcan.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_SMH4OWOO7DSS2DEDKI888888" ] }, { "instruction": "Pick the bottle located in the bedroom near the plant and place it in the bathroom near the cabinet.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_18a12c0ee00d99b21fb86d59284461b2_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "cabinet" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_e21d4bb1dbfcf5807d8aa4418113613c_0", "category": "cabinet", "room": "0/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bedroom. There is/are a plant located near the bottle.)\". The target location is nearby a cabinet( There is/are a cabinet located near the object.), and nearby a cabinet(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_00_SMH4OWOO7DSS2DEDKI888888" ] } ], "pen/model_4769adaa7cca789a819b724e18b87f0c_0": [ { "instruction": "Pick the pen and place it near the refrigerator and microwave.", "condition": [ { "object_attribute": { "instance_id": "refrigerator/model_a017e667f2fce1b898c47c6b16c5bed0_0", "category": "refrigerator", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "microwave/model_70229bcd9e27142e823ffc3b19ca2714_0", "category": "microwave", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen.)\". The target location is nearby a refrigerator, and nearby a microwave.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_SNTLS76O7DSS2DEDLI888888" ] }, { "instruction": "Pick the pen and place it nearby the curtain and the sofa chair in the study room.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_34b15a9a338f56d2753b2e6e133e6300_0", "category": "curtain", "room": "1/study room", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "sofa_chair/model_afbf299250e63be965ddb6b40de1eef8_0", "category": "sofa_chair", "room": "1/study room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pen(This object is a pen.)\". The target location is nearby a curtain(This object is in study room.), and nearby a sofa_chair(This object is in study room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pen/SM_00_SNTLS76O7DSS2DEDLI888888" ] } ], "picture/model_f23d7dd79c0c59344fc4558334077910_0": [ { "instruction": "Pick the picture in the corridor and place it on the sofa chair in the bedroom, nearby the curtain.", "condition": [ { "object_attribute": { "instance_id": "sofa_chair/model_5025d412ec49555724b92c5808826f05_0", "category": "sofa_chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_d690759c64f8def11c354b9b0dd37c8d_0", "category": "curtain", "room": "9/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in corridor.)\". The target location is on a sofa_chair, and nearby a curtain(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6GL2M4RVAZWPOPTUJQ888888" ] }, { "instruction": "Pick the picture in the corridor and place it in the study room nearby the curtain and the plant.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_ac4f158ccd7bbdd2b9099065528e05fc_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "plant/model_05506a3e47f153f0f31387abbe65aa83_0", "category": "plant", "room": "1/study room", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in corridor.)\". The target location is nearby a curtain, and nearby a plant(This object is in study room.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_04_6GL2M4RVAZWPOPTUJQ888888" ] } ], "laptop/model_bc91d2c1850027a2a3bdbfe8bab0d413_0": [ { "instruction": "Pick up the laptop and place it near the bottle and the cabinet, where there is a window nearby.", "condition": [ { "object_attribute": { "instance_id": "bottle/model_c61fc899146efb7123aa456b8e6d2682_0", "category": "bottle", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "cabinet/model_1416541b1fad75bb1a695004a83c8bc0_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "window" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is nearby a bottle, and nearby a cabinet( There is/are a window located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZELJKLBVAIMJCPTULQ888888" ] }, { "instruction": "Pick the laptop from the study room and place it on the chair, nearby a book located under the chair.", "condition": [ { "object_attribute": { "instance_id": "chair/model_a3323c2a5f416a87a50c33a43dacf572_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "book/model_0226bcf27b88a6f27e2ac01aad491b07_0", "category": "book", "room": "1/study room", "appearance": null, "relation": [ [ true, "under", "book" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is laptop(This object is a laptop.)\". The target location is on a chair, and nearby a book(This object is in study room. There is/are a book located under the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "laptop/SM_00_ZELJKLBVAIMJCPTULQ888888" ] } ], "picture/model_ed83019ee56b311573dad0369efc9275_0": [ { "instruction": "Pick the picture in the bathroom near the cabinet and place it on the cabinet in the bedroom near the bottle.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_1416541b1fad75bb1a695004a83c8bc0_0", "category": "cabinet", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "bottle/model_dbe182e5ab7a286ddeaedd55b6f57a20_0", "category": "bottle", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bathroom. There is/are a cabinet located near the picture.)\". The target location is on a cabinet(This object is in bedroom.), and nearby a bottle(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_07_6GMCUXMTD5TGGPTUKU888888" ] }, { "instruction": "Pick the picture from the bathroom, which is near a cabinet, and place it on the stool near the light.", "condition": [ { "object_attribute": { "instance_id": "stool/model_f4c91330356bff5af0755f698e5e40a1_0", "category": "stool", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "light/model_c1da2043b0c9b0c1df24ab4240e1997d_0", "category": "light", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is picture(This object is a picture. This object is in bathroom. There is/are a cabinet located near the picture.)\". The target location is on a stool, and nearby a light.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "picture/SM_07_6GMCUXMTD5TGGPTUKU888888" ] } ], "cup/model_3ab6d1bb1cf710066a13f17858a85122_0": [ { "instruction": "Pick the cup from the cabinet and place it on the chair near the plate.", "condition": [ { "object_attribute": { "instance_id": "chair/model_30645955edf9f01c3eb4058f15566d20_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "plate/model_9eb8641371f40af78f882b3719f58394_0", "category": "plate", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a cabinet located near the cup.)\". The target location is on a chair, and nearby a plate.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6D73SKUTD5TGMFLFLM888888" ] }, { "instruction": "Pick the cup located near the cabinet and place it on the cabinet in the bedroom, which has a bottle on it and is nearby a lamp in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_3a28dc79eebd636ad4a930a4410f191c_0", "category": "cabinet", "room": "8/bedroom", "appearance": null, "relation": [ [ true, "on", "bottle" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "lamp/model_690f47b3fe80573008d1b41c219501d5_0", "category": "lamp", "room": "8/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is cup(This object is a cup. There is/are a cabinet located near the cup.)\". The target location is on a cabinet(This object is in bedroom. There is/are a bottle located on the object.), and nearby a lamp(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "cup/SM_01_6D73SKUTD5TGMFLFLM888888" ] } ], "bottle/model_f07a8f617a825d4c45b0fa367633c38f_0": [ { "instruction": "Pick the bottle from the bathroom and place it nearby the cabinet and the mirror.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_4b21541d2261ace6455ef7dc255a2514_0", "category": "cabinet", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "mirror/model_2aa25d8a3aeabbcfe78f91dcf7b91a96_0", "category": "mirror", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bathroom.)\". The target location is nearby a cabinet, and nearby a mirror.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_06_SOOEAD6O7PRR6IREJU888888" ] }, { "instruction": "Pick the bottle from the bathroom and place it near the decoration and the book.", "condition": [ { "object_attribute": { "instance_id": "decoration/model_bddd0c035eda522af50b9529cc3868ec_0", "category": "decoration", "room": null, "appearance": null, "relation": [ [ true, "near", "book" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "book/model_a8163c43b0b1e2a806b0e94d30066385_0", "category": "book", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is bottle(This object is a bottle. This object is in bathroom.)\". The target location is nearby a decoration( There is/are a book located near the object.), and nearby a book.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "bottle/SM_06_SOOEAD6O7PRR6IREJU888888" ] } ], "plate/model_55a0eaa226f4f09928412fd69398fa4a_0": [ { "instruction": "Pick the plate located near the cabinet and place it on the cabinet near the mirror and the trashcan in the bathroom.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_b1ac7be39ba61e26ca607d2ca3952151_0", "category": "cabinet", "room": null, "appearance": null, "relation": [ [ true, "near", "mirror" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "trashcan/model_ef33467455b6d0ca515967ee0dc4b4cc_0", "category": "trashcan", "room": "2/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate.)\". The target location is on a cabinet( There is/are a mirror located near the object.), and nearby a trashcan(This object is in bathroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_07_6D73SKUTD5TGMFLFLM888888" ] }, { "instruction": "Pick the plate from the cabinet and place it in the bathroom near the cabinet and the toilet, where there is a picture nearby.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_e21d4bb1dbfcf5807d8aa4418113613c_0", "category": "cabinet", "room": "0/bathroom", "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "toilet/model_3f297017ce166fb9029a4ba31871e1f2_0", "category": "toilet", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is plate(This object is a plate. There is/are a cabinet located near the plate.)\". The target location is nearby a cabinet(This object is in bathroom.), and nearby a toilet( There is/are a picture located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "plate/SM_07_6D73SKUTD5TGMFLFLM888888" ] } ] }, "MV7J6NIKTKJZ2AABAAAAAEI8_usd": { "light/model_8f3e5d9840049364b0aec2c76e559f4b_0": [ { "instruction": "Pick the light in the dining room and place it near the curtain and the blanket.", "condition": [ { "object_attribute": { "instance_id": "curtain/model_9b223030d30493fa75f34ce2748b55e9_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "blanket/model_de96490bf649479886d2d8f354d0429f_0", "category": "blanket", "room": null, "appearance": null, "relation": [ [ true, "near", "curtain" ] ] }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is nearby a curtain, and nearby a blanket( There is/are a curtain located near the object.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_02_6EYHFOUTD5TGGVG2JU888888" ] }, { "instruction": "Pick the light from the dining room and place it on a chair near the table.", "condition": [ { "object_attribute": { "instance_id": "chair/model_e04fb8cca7a805d2f9d67cff829b44db_0", "category": "chair", "room": null, "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "table/model_eef587b5c4bcc52eb1400975c3c71e90_0", "category": "table", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is light(This object is a light. This object is in dinning room.)\". The target location is on a chair, and nearby a table.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "light/SM_02_6EYHFOUTD5TGGVG2JU888888" ] } ], "pillow/model_ef8c8d700da0b8fcedd19ea0ffd5cf7e_0": [ { "instruction": "Pick the pillow near the door and decoration, and place it on the cabinet in the toilet, nearby the curtain.", "condition": [ { "object_attribute": { "instance_id": "cabinet/model_a263ea2f7c384f912032ae0f8e32e190_0", "category": "cabinet", "room": "0/toilet", "appearance": null, "relation": null }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "curtain/model_7d2429af712b4679406879b8780b1208_0", "category": "curtain", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a door located near the pillow. There is/are a decoration located near the pillow.)\". The target location is on a cabinet(This object is in toilet.), and nearby a curtain.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6LLIOJRVAURNMPTUKA888888" ] }, { "instruction": "Pick the pillow located near the door and decoration, and place it nearby the keyboard, which is near a picture, and the mouse.", "condition": [ { "object_attribute": { "instance_id": "keyboard/model_fd570367515a5c2bd0fba743ad78b1a1_0", "category": "keyboard", "room": null, "appearance": null, "relation": [ [ true, "near", "picture" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "mouse/model_beb1a46ee9eb5f175ee85745ed7a130b_0", "category": "mouse", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a door located near the pillow. There is/are a decoration located near the pillow.)\". The target location is nearby a keyboard( There is/are a picture located near the object.), and nearby a mouse.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_00_6LLIOJRVAURNMPTUKA888888" ] } ], "pillow/model_1ca2f55db006d619955a68692ef16785_0": [ { "instruction": "Pick the pillow located near a picture, a door, and a shoe, and place it near the nightstand, which is near a door and a pillow.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_89639fa1f5b5a0e8f64fc634bd0f33c2_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "nearby" }, { "object_attribute": { "instance_id": "pillow/model_ef8c8d700da0b8fcedd19ea0ffd5cf7e_0", "category": "pillow", "room": null, "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a picture located near the pillow. There is/are a door located near the pillow. There is/are a shoe located near the pillow.)\". The target location is nearby a nightstand( There is/are a door located near the object.), and nearby a pillow.. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_6KBZIKJVAVQJ2PTULI888888", "pillow/SM_04_6KBZIKJVAVQJ2PTULI888888", "pillow/SM_06_6KBZIKJVAVQJ2PTULI888888" ] }, { "instruction": "Pick the pillow, which is near a picture, a door, and a shoe, and place it on the nightstand near a door and a blanket in the bedroom.", "condition": [ { "object_attribute": { "instance_id": "nightstand/model_89639fa1f5b5a0e8f64fc634bd0f33c2_0", "category": "nightstand", "room": null, "appearance": null, "relation": [ [ true, "near", "door" ] ] }, "sample_relation": "on" }, { "object_attribute": { "instance_id": "blanket/model_de96490bf649479886d2d8f354d0429f_0", "category": "blanket", "room": "10/bedroom", "appearance": null, "relation": null }, "sample_relation": "nearby" } ], "prompt": "You are playing the role of a human. You are asking your robot assistant to pick some object and place it to a target location. The pickable object is pillow(This object is a pillow. There is/are a picture located near the pillow. There is/are a door located near the pillow. There is/are a shoe located near the pillow.)\". The target location is on a nightstand( There is/are a door located near the object.), and nearby a blanket(This object is in bedroom.).. All descriptions inside parentheses should be condensed and included in the generated instruction. The instruction should be concise and readable. Do not add any call before your words. Please output the instruction in the following format: [ instruction ]. ", "candidates": [ "pillow/SM_03_6KBZIKJVAVQJ2PTULI888888", "pillow/SM_04_6KBZIKJVAVQJ2PTULI888888", "pillow/SM_06_6KBZIKJVAVQJ2PTULI888888" ] } ] } } }