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The dataset generation failed
Error code: DatasetGenerationError
Exception: ArrowInvalid
Message: JSON parse error: Invalid value. in row 0
Traceback: Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 174, in _generate_tables
df = pandas_read_json(f)
^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 38, in pandas_read_json
return pd.read_json(path_or_buf, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/pandas/io/json/_json.py", line 791, in read_json
json_reader = JsonReader(
^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/pandas/io/json/_json.py", line 905, in __init__
self.data = self._preprocess_data(data)
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/pandas/io/json/_json.py", line 917, in _preprocess_data
data = data.read()
^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 813, in read_with_retries
out = read(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^
File "<frozen codecs>", line 322, in decode
UnicodeDecodeError: 'utf-8' codec can't decode byte 0x89 in position 0: invalid start byte
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/builder.py", line 1815, in _prepare_split_single
for _, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 691, in wrapped
for item in generator(*args, **kwargs):
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 177, in _generate_tables
raise e
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 151, in _generate_tables
pa_table = paj.read_json(
^^^^^^^^^^^^^^
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: JSON parse error: Invalid value. in row 0
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1450, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 993, in stream_convert_to_parquet
builder._prepare_split(
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/builder.py", line 1702, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/.venv/lib/python3.12/site-packages/datasets/builder.py", line 1858, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
metadata
dict | image
string | conversations
list |
|---|---|---|
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 0
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_0.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows what appears to be a bathroom or utility room interior. There's a latticed or mesh-patterned panel visible, and what looks like a tiled floor. The space appears to be well-lit and clean. reasoning_and_reflection: To complete the task of rinsing a ladle and moving it to the table, we need to first locate the ladle, then find a sink to rinse it, and finally place it on a table. We'll need to use the faucet to clean the ladle, and ensure we have access to both a sink and table. language_plan: 1. First, locate the ladle in the environment. 2. Pick up the ladle once found. 3. Find a sink to clean the ladle. 4. Put the ladle in the sink. 5. Locate the faucet. 6. Turn on the faucet to rinse the ladle. 7. Turn off the faucet after rinsing. 8. Pick up the clean ladle. 9. Find the dining table. 10. Place the clean ladle on the table."
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[64, 'find a Ladle']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 1
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_1.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 0, 'thinking': \"visual_description: The image shows what appears to be a bathroom or utility room interior. There's a latticed or mesh-patterned panel visible, and what looks like a tiled floor. The space appears to be well-lit and clean. reasoning_and_reflection: To complete the task of rinsing a ladle and moving it to the table, we need to first locate the ladle, then find a sink to rinse it, and finally place it on a table. We'll need to use the faucet to clean the ladle, and ensure we have access to both a sink and table. language_plan: 1. First, locate the ladle in the environment. 2. Pick up the ladle once found. 3. Find a sink to clean the ladle. 4. Put the ladle in the sink. 5. Locate the faucet. 6. Turn on the faucet to rinse the ladle. 7. Turn off the faucet after rinsing. 8. Pick up the clean ladle. 9. Find the dining table. 10. Place the clean ladle on the table.\", 'action': \"[64, 'find a Ladle']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows an outdoor area with a wet surface and some puddles. There are no visible kitchen items or furniture like a ladle, sink, or table. reasoning_and_reflection: The previous plan assumed an indoor environment with a kitchen setup, but the current visual state shows an outdoor area with no visible kitchen items. The plan to pick up the ladle and rinse it in a sink cannot proceed as there is no ladle or sink visible. The task needs to be reassessed based on the current environment. language_plan: 1. Reassess the environment to locate a ladle. 2. If a ladle is found, pick it up. 3. Search for a water source to rinse the ladle. 4. If a water source is found, rinse the ladle. 5. Locate a table or flat surface. 6. Place the ladle on the table or flat surface."
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[109, 'pick up the Ladle']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 2
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_2.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 1, 'thinking': 'visual_description: The image shows an outdoor area with a wet surface and some puddles. There are no visible kitchen items or furniture like a ladle, sink, or table. reasoning_and_reflection: The previous plan assumed an indoor environment with a kitchen setup, but the current visual state shows an outdoor area with no visible kitchen items. The plan to pick up the ladle and rinse it in a sink cannot proceed as there is no ladle or sink visible. The task needs to be reassessed based on the current environment. language_plan: 1. Reassess the environment to locate a ladle. 2. If a ladle is found, pick it up. 3. Search for a water source to rinse the ladle. 4. If a water source is found, rinse the ladle. 5. Locate a table or flat surface. 6. Place the ladle on the table or flat surface.', 'action': \"[109, 'pick up the Ladle']\", 'env_feedback': 'Last action is invalid. Ladle is not visible because it is in DiningTable. Go there to pick the object instead.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows what appears to be a floor or surface area, with some lighting effects visible. The specific details of objects are not clearly visible in this particular view. reasoning_and_reflection: From the interaction history, we attempted to find a ladle (successful) but failed to pick it up because it was not visible, being located in the dining table. The environment feedback suggests we need to first go to the dining table to access the ladle. Our previous plan failed because we didn't properly account for the ladle's current location. language_plan: 1. Find the dining table where the ladle is located\n2. Find and pick up the ladle from the table\n3. Locate the sink\n4. Put the ladle in the sink\n5. Find and turn on the faucet\n6. Turn off the faucet after rinsing\n7. Pick up the cleaned ladle\n8. Find the dining table again\n9. Place the clean ladle on the table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[18, 'find a DiningTable']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 3
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_3.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 2, 'thinking': \"visual_description: The image shows what appears to be a floor or surface area, with some lighting effects visible. The specific details of objects are not clearly visible in this particular view. reasoning_and_reflection: From the interaction history, we attempted to find a ladle (successful) but failed to pick it up because it was not visible, being located in the dining table. The environment feedback suggests we need to first go to the dining table to access the ladle. Our previous plan failed because we didn't properly account for the ladle's current location. language_plan: 1. Find the dining table where the ladle is located\\n2. Find and pick up the ladle from the table\\n3. Locate the sink\\n4. Put the ladle in the sink\\n5. Find and turn on the faucet\\n6. Turn off the faucet after rinsing\\n7. Pick up the cleaned ladle\\n8. Find the dining table again\\n9. Place the clean ladle on the table\", 'action': \"[18, 'find a DiningTable']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows a dining table with a loaf of bread, an egg, and a ladle on it. The ladle is on the right side of the table. reasoning_and_reflection: The previous plan was to find the ladle on the dining table, which is now visible. The next step is to pick up the ladle. The previous failure was due to not being in the correct location to see the ladle, but now that it is visible, we can proceed with the plan. language_plan: 1. Pick up the ladle from the table\n2. Locate the sink\n3. Put the ladle in the sink\n4. Find and turn on the faucet\n5. Turn off the faucet after rinsing\n6. Pick up the cleaned ladle\n7. Find the dining table again\n8. Place the clean ladle on the table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[64, 'find a Ladle']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 4
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_4.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 3, 'thinking': 'visual_description: The image shows a dining table with a loaf of bread, an egg, and a ladle on it. The ladle is on the right side of the table. reasoning_and_reflection: The previous plan was to find the ladle on the dining table, which is now visible. The next step is to pick up the ladle. The previous failure was due to not being in the correct location to see the ladle, but now that it is visible, we can proceed with the plan. language_plan: 1. Pick up the ladle from the table\\n2. Locate the sink\\n3. Put the ladle in the sink\\n4. Find and turn on the faucet\\n5. Turn off the faucet after rinsing\\n6. Pick up the cleaned ladle\\n7. Find the dining table again\\n8. Place the clean ladle on the table', 'action': \"[64, 'find a Ladle']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The ladle is visible on the dining table along with a loaf of bread, a fork, and a plant in a pot. There is also a pot on the stove nearby. reasoning_and_reflection: The ladle is now visible on the dining table, making it possible to pick it up. The previous plan was on track, but we need to ensure each step is executed correctly. The next step is to pick up the ladle, then proceed to rinse it in the sink. language_plan: 1. Pick up the ladle from the dining table\n2. Find the sink\n3. Put the ladle in the sink\n4. Find and turn on the faucet\n5. Turn off the faucet after rinsing\n6. Pick up the cleaned ladle\n7. Find the dining table again\n8. Place the clean ladle on the table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[109, 'pick up the Ladle']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 5
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_5.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 4, 'thinking': 'visual_description: The ladle is visible on the dining table along with a loaf of bread, a fork, and a plant in a pot. There is also a pot on the stove nearby. reasoning_and_reflection: The ladle is now visible on the dining table, making it possible to pick it up. The previous plan was on track, but we need to ensure each step is executed correctly. The next step is to pick up the ladle, then proceed to rinse it in the sink. language_plan: 1. Pick up the ladle from the dining table\\n2. Find the sink\\n3. Put the ladle in the sink\\n4. Find and turn on the faucet\\n5. Turn off the faucet after rinsing\\n6. Pick up the cleaned ladle\\n7. Find the dining table again\\n8. Place the clean ladle on the table', 'action': \"[109, 'pick up the Ladle']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows a kitchen counter with a loaf of bread, a plant, a ladle, and a fork. There is a pot on the stove in the background. reasoning_and_reflection: The previous actions successfully located and picked up the ladle. The next step is to find the sink to rinse the ladle. The environment appears to be a kitchen, so the sink should be nearby. The previous plan was on track, and the next step is to continue by locating the sink. language_plan: 1. Find the sink\n2. Put down the ladle in the sink\n3. Find and turn on the faucet\n4. Turn off the faucet after rinsing\n5. Pick up the cleaned ladle\n6. Find the dining table\n7. Place the clean ladle on the table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[79, 'find a Sink']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 6
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_6.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 5, 'thinking': 'visual_description: The image shows a kitchen counter with a loaf of bread, a plant, a ladle, and a fork. There is a pot on the stove in the background. reasoning_and_reflection: The previous actions successfully located and picked up the ladle. The next step is to find the sink to rinse the ladle. The environment appears to be a kitchen, so the sink should be nearby. The previous plan was on track, and the next step is to continue by locating the sink. language_plan: 1. Find the sink\\n2. Put down the ladle in the sink\\n3. Find and turn on the faucet\\n4. Turn off the faucet after rinsing\\n5. Pick up the cleaned ladle\\n6. Find the dining table\\n7. Place the clean ladle on the table', 'action': \"[79, 'find a Sink']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The ladle is currently in the sink, along with other utensils. The faucet is visible above the sink. reasoning_and_reflection: The previous plan was partially executed, and the ladle is now in the sink. The next step is to rinse the ladle by turning on the faucet. The previous plan failed to account for the need to turn on the faucet before putting down the ladle, but now the ladle is in the sink, ready to be rinsed. language_plan: 1. Turn on the faucet to rinse the ladle\n2. Turn off the faucet after rinsing\n3. Pick up the cleaned ladle from the sink\n4. Find the dining table\n5. Place the clean ladle on the dining table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[133, 'put down the object in hand']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 7
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_7.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 6, 'thinking': 'visual_description: The ladle is currently in the sink, along with other utensils. The faucet is visible above the sink. reasoning_and_reflection: The previous plan was partially executed, and the ladle is now in the sink. The next step is to rinse the ladle by turning on the faucet. The previous plan failed to account for the need to turn on the faucet before putting down the ladle, but now the ladle is in the sink, ready to be rinsed. language_plan: 1. Turn on the faucet to rinse the ladle\\n2. Turn off the faucet after rinsing\\n3. Pick up the cleaned ladle from the sink\\n4. Find the dining table\\n5. Place the clean ladle on the dining table', 'action': \"[133, 'put down the object in hand']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The ladle is in the sink along with other utensils. The faucet is visible above the sink. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink. The next step is to turn on the faucet to rinse the ladle. The faucet is visible, so we can proceed with turning it on. After rinsing, we will need to turn off the faucet, pick up the ladle, and move it to the dining table. language_plan: 1. Turn on the faucet to rinse the ladle\n2. Turn off the faucet after rinsing\n3. Pick up the ladle from the sink\n4. Find the dining table\n5. Place the clean ladle on the dining table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[2, 'find a Faucet']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 8
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_8.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 7, 'thinking': 'visual_description: The ladle is in the sink along with other utensils. The faucet is visible above the sink. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink. The next step is to turn on the faucet to rinse the ladle. The faucet is visible, so we can proceed with turning it on. After rinsing, we will need to turn off the faucet, pick up the ladle, and move it to the dining table. language_plan: 1. Turn on the faucet to rinse the ladle\\n2. Turn off the faucet after rinsing\\n3. Pick up the ladle from the sink\\n4. Find the dining table\\n5. Place the clean ladle on the dining table', 'action': \"[2, 'find a Faucet']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows a kitchen sink with a faucet. The faucet is currently off, and there is a ladle in the sink. reasoning_and_reflection: The previous actions successfully located the sink and placed the ladle inside it. The next step is to turn on the faucet to rinse the ladle. The previous plan was executed correctly up to this point, and the environment is set up for the next action of turning on the faucet. language_plan: 1. Turn on the faucet to rinse the ladle\n2. Turn off the faucet after rinsing\n3. Pick up the cleaned ladle from the sink\n4. Find the dining table\n5. Place the clean ladle on the dining table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[155, 'turn on the Faucet']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 9
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_9.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 8, 'thinking': 'visual_description: The image shows a kitchen sink with a faucet. The faucet is currently off, and there is a ladle in the sink. reasoning_and_reflection: The previous actions successfully located the sink and placed the ladle inside it. The next step is to turn on the faucet to rinse the ladle. The previous plan was executed correctly up to this point, and the environment is set up for the next action of turning on the faucet. language_plan: 1. Turn on the faucet to rinse the ladle\\n2. Turn off the faucet after rinsing\\n3. Pick up the cleaned ladle from the sink\\n4. Find the dining table\\n5. Place the clean ladle on the dining table', 'action': \"[155, 'turn on the Faucet']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The faucet is on, and water is running over the ladle in the sink. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink and turned on the faucet to rinse it. The next step is to turn off the faucet to conserve water and proceed with moving the ladle to the table. The plan is on track, and the next actions should focus on completing the task by placing the ladle on the dining table. language_plan: 1. Turn off the faucet\n2. Pick up the ladle from the sink\n3. Find the dining table\n4. Place the clean ladle on the table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[156, 'turn off the Faucet']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 10
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_10.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 9, 'thinking': 'visual_description: The faucet is on, and water is running over the ladle in the sink. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink and turned on the faucet to rinse it. The next step is to turn off the faucet to conserve water and proceed with moving the ladle to the table. The plan is on track, and the next actions should focus on completing the task by placing the ladle on the dining table. language_plan: 1. Turn off the faucet\\n2. Pick up the ladle from the sink\\n3. Find the dining table\\n4. Place the clean ladle on the table', 'action': \"[156, 'turn off the Faucet']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The ladle is currently in the sink, and the faucet is turned off. The sink is located in a kitchen area with a window view. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink and rinsed it by turning on and off the faucet. Now, the task is to pick up the rinsed ladle and move it to the dining table. The last action to find the ladle is unnecessary since it is already visible in the sink. The plan should continue with picking up the ladle and placing it on the dining table. language_plan: 1. Pick up the ladle from the sink\n2. Find the dining table\n3. Place the ladle on the dining table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[64, 'find a Ladle']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 11
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_11.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 10, 'thinking': 'visual_description: The ladle is currently in the sink, and the faucet is turned off. The sink is located in a kitchen area with a window view. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink and rinsed it by turning on and off the faucet. Now, the task is to pick up the rinsed ladle and move it to the dining table. The last action to find the ladle is unnecessary since it is already visible in the sink. The plan should continue with picking up the ladle and placing it on the dining table. language_plan: 1. Pick up the ladle from the sink\\n2. Find the dining table\\n3. Place the ladle on the dining table', 'action': \"[64, 'find a Ladle']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The sink contains a ladle, a fork, a potato, and a tomato. The faucet is above the sink. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink and rinsed it. The next step is to pick up the ladle from the sink and move it to the dining table. The last action failed because the ladle was not picked up yet. We need to ensure the ladle is picked up before proceeding to the next steps. language_plan: 1. Pick up the ladle from the sink\n2. Find the dining table\n3. Place the ladle on the dining table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[109, 'pick up the Ladle']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 12
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_12.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 11, 'thinking': 'visual_description: The sink contains a ladle, a fork, a potato, and a tomato. The faucet is above the sink. reasoning_and_reflection: The previous actions successfully placed the ladle in the sink and rinsed it. The next step is to pick up the ladle from the sink and move it to the dining table. The last action failed because the ladle was not picked up yet. We need to ensure the ladle is picked up before proceeding to the next steps. language_plan: 1. Pick up the ladle from the sink\\n2. Find the dining table\\n3. Place the ladle on the dining table', 'action': \"[109, 'pick up the Ladle']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows a sink with a ladle, a spoon, a potato, and a tomato inside. The faucet is visible above the sink. reasoning_and_reflection: The previous plan was executed up to picking up the ladle. The ladle is now in the sink, ready to be rinsed. The next step is to turn on the faucet to rinse the ladle. The previous plan failed to account for the current location of the ladle, which is now in the sink, not on the dining table. language_plan: 1. Find the faucet\n2. Turn on the faucet to rinse the ladle\n3. Turn off the faucet after rinsing\n4. Pick up the ladle from the sink\n5. Find the dining table\n6. Place the clean ladle on the dining table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[18, 'find a DiningTable']"
}
] |
{
"episode_id": "1",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 13
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_1/episode_1_step_13.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 207) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Cabinet_2, \naction id 164: find a CounterTop_2, \naction id 165: find a CounterTop_3, \naction id 166: find a Cup_2, \naction id 167: find a Drawer_2, \naction id 168: find a Drawer_3, \naction id 169: find a Drawer_4, \naction id 170: find a Drawer_5, \naction id 171: find a Drawer_6, \naction id 172: find a Mug_2, \naction id 173: find a Mug_3, \naction id 174: find a Plate_2, \naction id 175: find a Plate_3, \naction id 176: find a Pot_2, \naction id 177: find a StoveBurner_2, \naction id 178: find a StoveBurner_3, \naction id 179: find a StoveBurner_4, \naction id 180: open the Cabinet_2, \naction id 181: close the Cabinet_2, \naction id 182: open the Drawer_2, \naction id 183: close the Drawer_2, \naction id 184: open the Drawer_3, \naction id 185: close the Drawer_3, \naction id 186: open the Drawer_4, \naction id 187: close the Drawer_4, \naction id 188: open the Drawer_5, \naction id 189: close the Drawer_5, \naction id 190: open the Drawer_6, \naction id 191: close the Drawer_6, \naction id 192: find a Apple_2, \naction id 193: find a Apple_3, \naction id 194: find a Bread_2, \naction id 195: find a Egg_2, \naction id 196: find a Egg_3, \naction id 197: find a Fork_2, \naction id 198: find a Fork_3, \naction id 199: find a Knife_2, \naction id 200: find a Ladle_2, \naction id 201: find a PepperShaker_2, \naction id 202: find a PepperShaker_3, \naction id 203: find a Potato_2, \naction id 204: find a SaltShaker_2, \naction id 205: find a SaltShaker_3, \naction id 206: find a Spoon_2, \naction id 207: find a Spoon_3. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Rinse off a ladle and move it to the table. \n interaction_history: [{'step_id': 12, 'thinking': 'visual_description: The image shows a sink with a ladle, a spoon, a potato, and a tomato inside. The faucet is visible above the sink. reasoning_and_reflection: The previous plan was executed up to picking up the ladle. The ladle is now in the sink, ready to be rinsed. The next step is to turn on the faucet to rinse the ladle. The previous plan failed to account for the current location of the ladle, which is now in the sink, not on the dining table. language_plan: 1. Find the faucet\\n2. Turn on the faucet to rinse the ladle\\n3. Turn off the faucet after rinsing\\n4. Pick up the ladle from the sink\\n5. Find the dining table\\n6. Place the clean ladle on the dining table', 'action': \"[18, 'find a DiningTable']\", 'env_feedback': 'Last action executed successfully.'}] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The ladle is currently on the floor near the dining table. There is a loaf of bread and an egg on the table. reasoning_and_reflection: The previous plan was executed up to the point of placing the ladle on the table. However, the ladle is currently on the floor, indicating that the last action to place it on the table was not successful. This suggests that the ladle needs to be picked up again and properly placed on the table. language_plan: 1. Find the ladle on the floor\n2. Pick up the ladle\n3. Find the dining table\n4. Place the ladle on the table"
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[133, 'put down the object in hand']"
}
] |
{
"episode_id": "2",
"eval_subset": "base",
"model_name": "claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500",
"step_id": 0
}
|
images/claude-3-5-sonnet-20241022_vlm_subset_10shots_imgsize500/base/episode_2/episode_2_step_0.png
|
[
{
"end_turn": null,
"from": "system",
"think_or_action": null,
"value": "## You are a robot operating in a home. Given a task, you must accomplish the task using a defined set of actions to achieve the desired outcome.\n ## Action Descriptions and Validity Rules\n • Find: Parameterized by the name of the receptacle to navigate to. So long as the object is present in the scene, this skill is always valid\n • Pick up: Parameterized by the name of the object to pick. Only valid if the robot is close to the object, not holding another object, and the object is not inside a closed receptacle.\n • Put down: Parameterized by the name of the object to put down to a nearby receptacle. Only valid if the robot is holding an object.\n • Drop: Parameterized by the name of the object to put down. It is different from Put down action, as this does not guarantee the held object will be put into a specified receptacle. \n • Open: Parameterized by the name of the receptacle to open. Only valid if the receptacle is closed and the robot is close to the receptacle.\n • Close: Parameterized by the name of the receptacle to close. Only valid if the receptacle is open and the robot is close to the receptacle.\n • Turn on: Parameterized by the name of the object to turn on. Only valid if the object is turned off and the robot is close to the object.\n • Turn off: Parameterized by the name of the object to turn off. Only valid if the object is turned on and the robot is close to the object.\n • Slice: Parameterized by the name of the object to slice. Only valid if the object is sliceable and the robot is close to the object.\n\n\n ## The available action id (0 ~ 217) and action names are: \naction id 0: find a Cart, \naction id 1: find a Potato, \naction id 2: find a Faucet, \naction id 3: find a Ottoman, \naction id 4: find a CoffeeMachine, \naction id 5: find a Candle, \naction id 6: find a CD, \naction id 7: find a Pan, \naction id 8: find a Watch, \naction id 9: find a HandTowel, \naction id 10: find a SprayBottle, \naction id 11: find a BaseballBat, \naction id 12: find a CellPhone, \naction id 13: find a Kettle, \naction id 14: find a Mug, \naction id 15: find a StoveBurner, \naction id 16: find a Bowl, \naction id 17: find a Toilet, \naction id 18: find a DiningTable, \naction id 19: find a Spoon, \naction id 20: find a TissueBox, \naction id 21: find a Shelf, \naction id 22: find a Apple, \naction id 23: find a TennisRacket, \naction id 24: find a SoapBar, \naction id 25: find a Cloth, \naction id 26: find a Plunger, \naction id 27: find a FloorLamp, \naction id 28: find a ToiletPaperHanger, \naction id 29: find a CoffeeTable, \naction id 30: find a Spatula, \naction id 31: find a Plate, \naction id 32: find a Bed, \naction id 33: find a Glassbottle, \naction id 34: find a Knife, \naction id 35: find a Tomato, \naction id 36: find a ButterKnife, \naction id 37: find a Dresser, \naction id 38: find a Microwave, \naction id 39: find a CounterTop, \naction id 40: find a GarbageCan, \naction id 41: find a WateringCan, \naction id 42: find a Vase, \naction id 43: find a ArmChair, \naction id 44: find a Safe, \naction id 45: find a KeyChain, \naction id 46: find a Pot, \naction id 47: find a Pen, \naction id 48: find a Cabinet, \naction id 49: find a Desk, \naction id 50: find a Newspaper, \naction id 51: find a Drawer, \naction id 52: find a Sofa, \naction id 53: find a Bread, \naction id 54: find a Book, \naction id 55: find a Lettuce, \naction id 56: find a CreditCard, \naction id 57: find a AlarmClock, \naction id 58: find a ToiletPaper, \naction id 59: find a SideTable, \naction id 60: find a Fork, \naction id 61: find a Box, \naction id 62: find a Egg, \naction id 63: find a DeskLamp, \naction id 64: find a Ladle, \naction id 65: find a WineBottle, \naction id 66: find a Pencil, \naction id 67: find a Laptop, \naction id 68: find a RemoteControl, \naction id 69: find a BasketBall, \naction id 70: find a DishSponge, \naction id 71: find a Cup, \naction id 72: find a SaltShaker, \naction id 73: find a PepperShaker, \naction id 74: find a Pillow, \naction id 75: find a Bathtub, \naction id 76: find a SoapBottle, \naction id 77: find a Statue, \naction id 78: find a Fridge, \naction id 79: find a Sink, \naction id 80: pick up the KeyChain, \naction id 81: pick up the Potato, \naction id 82: pick up the Pot, \naction id 83: pick up the Pen, \naction id 84: pick up the Candle, \naction id 85: pick up the CD, \naction id 86: pick up the Pan, \naction id 87: pick up the Watch, \naction id 88: pick up the Newspaper, \naction id 89: pick up the HandTowel, \naction id 90: pick up the SprayBottle, \naction id 91: pick up the BaseballBat, \naction id 92: pick up the Bread, \naction id 93: pick up the CellPhone, \naction id 94: pick up the Book, \naction id 95: pick up the Lettuce, \naction id 96: pick up the CreditCard, \naction id 97: pick up the Mug, \naction id 98: pick up the AlarmClock, \naction id 99: pick up the Kettle, \naction id 100: pick up the ToiletPaper, \naction id 101: pick up the Bowl, \naction id 102: pick up the Fork, \naction id 103: pick up the Box, \naction id 104: pick up the Egg, \naction id 105: pick up the Spoon, \naction id 106: pick up the TissueBox, \naction id 107: pick up the Apple, \naction id 108: pick up the TennisRacket, \naction id 109: pick up the Ladle, \naction id 110: pick up the WineBottle, \naction id 111: pick up the Cloth, \naction id 112: pick up the Plunger, \naction id 113: pick up the SoapBar, \naction id 114: pick up the Pencil, \naction id 115: pick up the Laptop, \naction id 116: pick up the RemoteControl, \naction id 117: pick up the BasketBall, \naction id 118: pick up the DishSponge, \naction id 119: pick up the Cup, \naction id 120: pick up the Spatula, \naction id 121: pick up the SaltShaker, \naction id 122: pick up the Plate, \naction id 123: pick up the PepperShaker, \naction id 124: pick up the Pillow, \naction id 125: pick up the Glassbottle, \naction id 126: pick up the SoapBottle, \naction id 127: pick up the Knife, \naction id 128: pick up the Statue, \naction id 129: pick up the Tomato, \naction id 130: pick up the ButterKnife, \naction id 131: pick up the WateringCan, \naction id 132: pick up the Vase, \naction id 133: put down the object in hand, \naction id 134: drop the object in hand, \naction id 135: open the Safe, \naction id 136: close the Safe, \naction id 137: open the Laptop, \naction id 138: close the Laptop, \naction id 139: open the Fridge, \naction id 140: close the Fridge, \naction id 141: open the Box, \naction id 142: close the Box, \naction id 143: open the Microwave, \naction id 144: close the Microwave, \naction id 145: open the Cabinet, \naction id 146: close the Cabinet, \naction id 147: open the Drawer, \naction id 148: close the Drawer, \naction id 149: turn on the Microwave, \naction id 150: turn off the Microwave, \naction id 151: turn on the DeskLamp, \naction id 152: turn off the DeskLamp, \naction id 153: turn on the FloorLamp, \naction id 154: turn off the FloorLamp, \naction id 155: turn on the Faucet, \naction id 156: turn off the Faucet, \naction id 157: slice the Potato, \naction id 158: slice the Lettuce, \naction id 159: slice the Tomato, \naction id 160: slice the Apple, \naction id 161: slice the Bread, \naction id 162: find a Bowl_2, \naction id 163: find a Bowl_3, \naction id 164: find a Cabinet_10, \naction id 165: find a Cabinet_11, \naction id 166: find a Cabinet_2, \naction id 167: find a Cabinet_3, \naction id 168: find a Cabinet_4, \naction id 169: find a Cabinet_5, \naction id 170: find a Cabinet_6, \naction id 171: find a Cabinet_7, \naction id 172: find a Cabinet_8, \naction id 173: find a Cabinet_9, \naction id 174: find a CounterTop_2, \naction id 175: find a Drawer_2, \naction id 176: find a Drawer_3, \naction id 177: find a Pan_2, \naction id 178: find a StoveBurner_2, \naction id 179: find a StoveBurner_3, \naction id 180: find a StoveBurner_4, \naction id 181: open the Cabinet_10, \naction id 182: close the Cabinet_10, \naction id 183: open the Cabinet_11, \naction id 184: close the Cabinet_11, \naction id 185: open the Cabinet_2, \naction id 186: close the Cabinet_2, \naction id 187: open the Cabinet_3, \naction id 188: close the Cabinet_3, \naction id 189: open the Cabinet_4, \naction id 190: close the Cabinet_4, \naction id 191: open the Cabinet_5, \naction id 192: close the Cabinet_5, \naction id 193: open the Cabinet_6, \naction id 194: close the Cabinet_6, \naction id 195: open the Cabinet_7, \naction id 196: close the Cabinet_7, \naction id 197: open the Cabinet_8, \naction id 198: close the Cabinet_8, \naction id 199: open the Cabinet_9, \naction id 200: close the Cabinet_9, \naction id 201: open the Drawer_2, \naction id 202: close the Drawer_2, \naction id 203: open the Drawer_3, \naction id 204: close the Drawer_3, \naction id 205: find a ButterKnife_2, \naction id 206: find a DishSponge_2, \naction id 207: find a Egg_2, \naction id 208: find a Fork_2, \naction id 209: find a Knife_2, \naction id 210: find a Lettuce_2, \naction id 211: find a PepperShaker_2, \naction id 212: find a SaltShaker_2, \naction id 213: find a SoapBottle_2, \naction id 214: find a SoapBottle_3, \naction id 215: find a Spatula_2, \naction id 216: find a Spatula_3, \naction id 217: find a WineBottle_2. ## Guidelines\n 1. **Output Plan**: Avoid generating empty plan. Each plan should include no more than 20 actions.\n 2. **Visibility**: Always locate a visible object by the 'find' action before interacting with it.\n 3. **Action Guidelines**: Make sure match the action name and its corresponding action id in the output.\n Avoid performing actions that do not meet the defined validity criteria. For instance, if you want to put object in a receptacle, use 'put down' rather than 'drop' actions. \n 4. **Prevent Repeating Action Sequences**: Do not repeatedly execute the same action or sequence of actions.\n Try to modify the action sequence because previous actions do not lead to success.\n 5. **Multiple Instances**: There may be multiple instances of the same object, distinguished by an index following their names, e.g., Cabinet_2, Cabinet_3. You can explore these instances if you do not find the desired object in the current receptacle.\n 6. **Reflection on History and Feedback**: Use interaction history and feedback from the environment to refine and improve your current plan.\n If the last action is invalid, reflect on the reason, such as not adhering to action rules or missing preliminary actions, and adjust your plan accordingly.\n\n ** Generation Guide **\n - Include the thinking process between <|think_start|> and <|think_end|>\n - Include only the target action in <|action_start|> and <|action_end|>, i.e. the content inside <|action_start|> and <|action_end|> should be nothing more than [action_id, 'action_name'], where the action id is an integer and the action name is the corresponding name. Do not include any other thing, such as '\"'.\n "
},
{
"end_turn": null,
"from": "human",
"think_or_action": null,
"value": "<image>\n instruction: Set plate with a spoon in it on the kitchen table \n interaction_history: [] \n Based on the above information, please provide the action for the next step to complete the task. Think, then act."
},
{
"end_turn": false,
"from": "gpt",
"think_or_action": 0,
"value": "visual_description: The image shows a corner of a room with beige walls and carpeted flooring. There appears to be a vent or air return mounted on the wall. The space appears to be empty without any visible furniture or objects. reasoning_and_reflection: Since the room appears empty, we'll need to search for and locate the required items (plate, spoon, and dining table) before we can complete the task. We'll need to find these items first, then arrange them according to the instruction. language_plan: 1. First, locate the plate in the room. 2. Pick up the plate once found. 3. Find the spoon. 4. Pick up the spoon. 5. Find the dining table. 6. Put down the spoon on the plate. 7. Place the plate with the spoon on the dining table."
},
{
"end_turn": true,
"from": "gpt",
"think_or_action": 1,
"value": "[31, 'find a Plate']"
}
] |
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