ThinkingVLA
Collection
Datasets for ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation. • 30 items • Updated
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observation.images.image_0 image | observation.images.image_0_future image | observation.state list | action list | timestamp float32 | future_timestamp float32 | gen_cot string | action_cot string | frame_index int64 | future_frame_index int64 | episode_index int64 | index int64 | task_index int64 | task string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
0.29659736156463623,
0.08721912652254105,
0.09090666472911835,
0.4220196604728699,
-0.13262920081615448,
0.04135137051343918,
0,
0.9913908839225769
] | [
-0.000680774450302124,
-0.002418801188468933,
-0.01415504515171051,
-0.026210248470306396,
0.024769984185695648,
0.05495709180831909,
1
] | 0 | 2 | The robot arm hovers above the basket, gripper open, targeting a small spoon among other utensils. It will descend, close its gripper around the spoon’s handle, lift it clear of the basket, and move rightward toward the empty tray slot. The spoon will be gently placed into the tray, gripper releasing, completing the tr... | The small spoon remains in the basket, and no movement toward the tray is evident; the scene is unchanged. Since the goal is not yet achieved and no action has occurred, the next step is to initiate retrieval. subtask: grasp | 0 | 10 | 0 | 0 | 0 | put small spoon from basket to tray | ||
[
0.2959165871143341,
0.08480032533407211,
0.07675161957740784,
0.3958094120025635,
-0.10785921663045883,
0.09630846232175827,
0,
0.9913908839225769
] | [
0.010397911071777344,
0.006805889308452606,
-0.011191263794898987,
-0.02995377779006958,
-0.002169378101825714,
0.12911391258239746,
1
] | 0.2 | 2.2 | The robot arm is poised above the basket, gripper open, ready to grasp the small spoon. It will descend, close the gripper around the spoon, lift it, and move rightward toward the tray. The spoon will be placed into an empty slot, and the gripper will open and retract slightly, leaving the spoon neatly aligned in the t... | The small spoon remains in the basket while the tray is empty; to progress, the spoon must be transferred. The robot arm is positioned above the basket, ready to interact. subtask: grasp | 1 | 11 | 0 | 1 | 0 | put small spoon from basket to tray | ||
[
0.30631449818611145,
0.09160621464252472,
0.06556035578250885,
0.3658556342124939,
-0.11002859473228455,
0.22542238235473633,
0,
0.9920742511749268
] | [
0.00677451491355896,
0.009589701890945435,
-0.006283298134803772,
0.007725387811660767,
-0.01614484190940857,
0.06705859303474426,
1
] | 0.4 | 2.4 | The robotic arm, currently hovering above the basket, will lower its gripper to grasp the small spoon among other utensils. Once secured, it will lift and pivot toward the tray, releasing the spoon into an empty slot. The gripper will then retract slightly, leaving the spoon neatly placed while the arm prepares for the... | The robotic arm is positioned above the basket and is about to grasp a small spoon. The tray is empty and ready to receive it. The key transition is moving the spoon from the basket to the tray.
subtask: grasp | 2 | 12 | 0 | 2 | 0 | put small spoon from basket to tray | ||
[
0.3130890130996704,
0.10119591653347015,
0.05927705764770508,
0.37358102202415466,
-0.12617343664169312,
0.2924809753894806,
0,
0.9913908839225769
] | [
0.004861801862716675,
0.008451417088508606,
-0.010972518473863602,
0.005006223917007446,
-0.036428794264793396,
0.06497415900230408,
1
] | 0.6 | 2.6 | The robotic arm, currently hovering above the basket, will descend to grasp the small spoon nestled among other utensils. Upon securing it, the gripper will lift and pivot toward the tray, releasing the spoon into an empty slot. The tray’s organized layout will subtly shift as the spoon settles, completing the transfer... | The small spoon remains in the basket, and no movement toward the tray is evident; the scene is unchanged. Since the spoon has not been transferred, the task is incomplete. subtask: grasp | 3 | 13 | 0 | 3 | 0 | put small spoon from basket to tray | ||
[
0.3179508149623871,
0.10964733362197876,
0.048304539173841476,
0.3785872459411621,
-0.1626022309064865,
0.35745513439178467,
0,
0.9920742511749268
] | [
0.004142791032791138,
0.009678125381469727,
-0.010611485689878464,
-0.002300858497619629,
-0.053849563002586365,
0.0454353392124176,
1
] | 0.8 | 2.8 | The robot arm, currently hovering above the basket, will lower its gripper to grasp the small spoon nestled among other utensils. It will then lift and reposition the spoon precisely into an empty slot in the black tray, releasing it gently while the gripper opens, leaving the spoon securely placed and the arm retracti... | The small spoon remains in the basket while the tray is empty; to transition, the spoon must be grasped from the basket. subtask: grasp | 4 | 14 | 0 | 4 | 0 | put small spoon from basket to tray | ||
[
0.3220936059951782,
0.11932545900344849,
0.03769305348396301,
0.3762863874435425,
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0.40289047360420227,
0,
0.9913908839225769
] | [
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-0.014505498111248016,
0.003110051155090332,
0.009664982557296753,
0.00584489107131958,
1
] | 1 | 3 | The robot arm, currently holding a small spoon above the basket, will lower it into the tray’s empty slot. The gripper will release the spoon, leaving it resting neatly in the tray while the arm retracts slightly upward. The basket remains unchanged, and the spoon’s position shifts from suspended to stationary within t... | The robotic arm is positioned above the basket and is about to pick up a small spoon; the tray is empty and ready to receive it. The key change is the spoon moving from the basket to the tray. subtask: grasp | 5 | 15 | 0 | 5 | 0 | put small spoon from basket to tray | ||
[
0.3208793103694916,
0.11982499063014984,
0.023187555372714996,
0.3793964385986328,
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0.40873536467552185,
0,
0.9920742511749268
] | [
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-0.009693780913949013,
0.008475691080093384,
0.03219398856163025,
0.02575799822807312,
1
] | 1.2 | 3.2 | The robot arm, currently gripping a small spoon above the basket, will move rightward and lower the spoon into the empty slot of the black tray. The gripper will open to release the spoon, which will rest neatly aligned in the tray, while the arm retracts slightly to clear the tray’s edge. | The small spoon remains in the basket while the tray stays empty; no transfer has occurred yet. To progress, the spoon must be picked from the basket. subtask: grasp | 6 | 16 | 0 | 6 | 0 | put small spoon from basket to tray | ||
[
0.3195497393608093,
0.1255376935005188,
0.013493774458765984,
0.3878721296787262,
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0.43449336290359497,
0,
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] | [
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0.004263386130332947,
-0.004905189387500286,
0.012098431587219238,
0.010242745280265808,
0.001974642276763916,
0
] | 1.4 | 3.4 | The robot arm, currently gripping a small spoon above the basket, will move rightward and lower the spoon into the empty slot of the black tray. The gripper will open to release the spoon, leaving it resting neatly in the tray while the arm retracts slightly upward, preparing for the next movement. | The small spoon is currently in the basket and needs to be placed into the tray. The robotic arm is positioned above the basket, ready to grasp the spoon. The transition requires lifting the spoon from the basket and moving it toward the tray.
subtask: grasp | 7 | 17 | 0 | 7 | 0 | put small spoon from basket to tray | ||
[
0.3212142884731293,
0.12980107963085175,
0.008588585071265697,
0.39997056126594543,
-0.16435007750988007,
0.4364680051803589,
0,
0.8158720135688782
] | [
0.0028097331523895264,
-0.002880662679672241,
-0.0021341685205698013,
0.011059492826461792,
-0.00977332890033722,
-0.014952272176742554,
0
] | 1.6 | 3.6 | The robot arm is positioned above the basket, gripper open, ready to grasp a small spoon. It will descend, close the gripper around the spoon, lift it, and move rightward toward the tray. The spoon will be released into an empty slot, and the gripper will open and retract slightly, leaving the spoon neatly placed in th... | The small spoon remains in the basket while the tray stays empty; no transfer has occurred. To progress, the spoon must be grasped from the basket. subtask: grasp | 8 | 18 | 0 | 8 | 0 | put small spoon from basket to tray | ||
[
0.3240240216255188,
0.1269204169511795,
0.006454416550695896,
0.4110300540924072,
-0.17412340641021729,
0.42151573300361633,
0,
0.5033408999443054
] | [
0.0007842779159545898,
-0.004344180226325989,
0.0005712383426725864,
0.004921048879623413,
-0.001427769660949707,
-0.005682915449142456,
0
] | 1.8 | 3.8 | The robotic arm, currently positioned over the basket, will grasp the small spoon and lift it, moving smoothly toward the tray while the gripper remains closed. As it approaches the tray, the arm will lower the spoon into the designated slot, releasing it gently. The spoon will then rest neatly aligned in the tray, and... | The small spoon remains in the basket while the tray is empty; to transition, the spoon must be moved from the basket to the tray. subtask: grasp the small spoon in the basket and move_to the tray. | 9 | 19 | 0 | 9 | 0 | put small spoon from basket to tray | ||
[
0.3248082995414734,
0.12257623672485352,
0.007025654893368483,
0.41595110297203064,
-0.175551176071167,
0.4158328175544739,
0,
0.3610773980617523
] | [
-0.004265874624252319,
-0.004856660962104797,
0.009973088279366493,
0.034245431423187256,
0.030422553420066833,
-0.02326059341430664,
0
] | 2 | 4 | The robotic arm is positioned above the basket, gripper open, ready to grasp a small spoon. It will descend, close around the spoon, lift it clear of the basket, then move laterally toward the tray and lower the spoon into an empty slot. The gripper will open, releasing the spoon, and the arm will retract slightly, lea... | The small spoon remains in the basket while the robotic arm hovers above it; to transition toward placing it in the tray, the arm must first grasp the spoon. subtask: grasp | 10 | 20 | 0 | 10 | 0 | put small spoon from basket to tray | ||
[
0.32054242491722107,
0.11771957576274872,
0.016998743638396263,
0.4501965343952179,
-0.14512862265110016,
0.39257222414016724,
0,
0.329172819852829
] | [
-0.005980193614959717,
-0.007942378520965576,
0.03372998535633087,
0.016160309314727783,
0.052288420498371124,
-0.05407634377479553,
0
] | 2.2 | 4.2 | The robot arm is positioned above the basket, gripping a small spoon. It will move rightward and lower the spoon into an empty slot in the black tray. The gripper will open, releasing the spoon, which will rest neatly aligned in the tray while the arm retracts slightly upward, preparing for the next action. | The robotic arm is positioned above the basket and is about to grasp a small spoon; the tray is empty and ready to receive it. The key change is the spoon moving from basket to tray. subtask: grasp | 11 | 21 | 0 | 11 | 0 | put small spoon from basket to tray | ||
[
0.31456223130226135,
0.10977719724178314,
0.050728730857372284,
0.4663568437099457,
-0.09284020215272903,
0.3384958803653717,
0,
0.27305713295936584
] | [
-0.009415149688720703,
-0.010696761310100555,
0.03357880562543869,
-0.0009860098361968994,
0.04848724976181984,
-0.06192672252655029,
0
] | 2.4 | 4.4 | The robotic arm, currently gripping a small spoon above the basket, will move rightward and lower the spoon into an empty slot in the black tray. The gripper will then open, releasing the spoon, which will rest neatly aligned with others in the tray, while the arm retracts slightly to prepare for the next pick. | The robotic arm is positioned above the basket and appears to be preparing to pick up a small spoon. The spoon is visible in the basket, and the tray is empty and ready to receive it. The transition requires grasping the spoon from the basket.
subtask: grasp | 12 | 22 | 0 | 12 | 0 | put small spoon from basket to tray | ||
[
0.30514708161354065,
0.09908043593168259,
0.08430753648281097,
0.4653708338737488,
-0.044352952390909195,
0.2765691578388214,
0,
0.20083679258823395
] | [
0.0010651051998138428,
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0.04379922151565552,
-0.009801238775253296,
-0.014634557068347931,
-0.0725632756948471,
0
] | 2.6 | 4.6 | The robot arm, currently hovering near the basket, will lower its gripper to grasp a small spoon among the utensils, then lift and pivot toward the tray, releasing the spoon into an empty slot, leaving the basket slightly less crowded and the tray one spoon richer. | The small spoon remains in the basket while the tray is empty; to progress, the spoon must be transferred. The robotic arm is positioned above the basket, ready to interact. subtask: grasp | 13 | 23 | 0 | 13 | 0 | put small spoon from basket to tray | ||
[
0.3062121868133545,
0.07960174977779388,
0.1281067579984665,
0.4555695950984955,
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0.2040058821439743,
0,
0.10553344339132309
] | [
0.01565304398536682,
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0.018724337220191956,
-0.05883157253265381,
-0.056798603385686874,
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0
] | 2.8 | 4.8 | The robotic arm, currently holding a small spoon above the basket, will move rightward and lower the spoon into an empty slot of the black tray. The gripper will release the spoon, leaving it resting neatly in the tray, while the arm retracts slightly upward, preparing for the next motion. | The robotic arm is positioned above the basket and is about to grasp a small spoon. The tray is empty and ready to receive the spoon. The key change is the spoon moving from the basket to the tray.
subtask: grasp | 14 | 24 | 0 | 14 | 0 | put small spoon from basket to tray | ||
[
0.3218652307987213,
0.06288135051727295,
0.14683109521865845,
0.3967380225658417,
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0.19075742363929749,
0,
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] | [
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0.00682947039604187,
-0.10374099016189575,
-0.0834030732512474,
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0
] | 3 | 5 | The robotic arm is positioned above the basket, gripper open and ready to grasp the small spoon. It will descend slightly, close the gripper around the spoon’s handle, lift it clear of the basket, then move laterally toward the tray, lowering the spoon into an empty slot while maintaining alignment, before releasing an... | The robotic arm is positioning a small spoon above the tray, having just lifted it from the basket. The spoon is aligned with an empty slot in the tray, indicating the next step is to lower and place it. subtask: place | 15 | 25 | 0 | 15 | 0 | put small spoon from basket to tray | ||
[
0.34262973070144653,
0.03386709839105606,
0.15366056561470032,
0.2929970324039459,
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0,
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] | [
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0.07525469362735748,
0
] | 3.2 | 5 | The robotic arm, currently hovering above the basket, will descend to grasp a small spoon, then lift and pivot toward the tray, releasing the spoon into one of its compartments, leaving the gripper open and repositioned above the tray while the basket remains unchanged. | The robotic arm is positioned above the basket containing spoons and is preparing to pick one. The tray is empty and ready to receive the spoon. The key transition is from hovering to grasping the small spoon.
subtask: grasp | 16 | 25 | 0 | 16 | 0 | put small spoon from basket to tray | ||
[
0.3611587882041931,
0.012039274908602238,
0.147140771150589,
0.15245315432548523,
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0,
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] | [
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0.048548147082328796,
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0
] | 3.4 | 5 | The robotic arm hovers above the basket, gripper open, targeting a small spoon among other utensils. It will descend, close its gripper around the spoon’s handle, lift it clear of the basket, then pivot and lower it precisely into an empty slot in the black tray, releasing the spoon with the gripper opening again. | The small spoon is currently in the basket and needs to be moved to the tray; the robotic arm is positioned above the spoon, ready to pick it up. subtask: grasp | 17 | 25 | 0 | 17 | 0 | put small spoon from basket to tray | ||
[
0.3729858100414276,
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0.029463352635502815,
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0,
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] | [
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0.026965394616127014,
0.026204049587249756,
0
] | 3.6 | 5 | The robotic arm hovers above the basket, gripper open, preparing to grasp a small spoon. It will descend, close around the spoon’s handle, lift it clear of the basket, and move rightward toward the tray. The gripper will then open, releasing the spoon into an empty slot in the tray, completing the transfer while mainta... | The small spoon is currently in the basket, and the future frame shows the robotic arm positioned above it, preparing to pick it up. The key change is the initiation of retrieval. subtask: grasp | 18 | 25 | 0 | 18 | 0 | put small spoon from basket to tray | ||
[
0.37470993399620056,
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0.1460132598876953,
-0.03301224112510681,
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0.34682121872901917,
0,
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] | [
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-0.0119524747133255,
-0.03415483981370926,
0.0097898468375206,
0.025731325149536133,
0
] | 3.8 | 5 | The robotic arm hovers above the basket, gripper open, preparing to grasp a small spoon. It will descend slightly, close its gripper around the spoon’s handle, lift it clear of the basket, and move rightward toward the tray. The spoon will be lowered into an empty slot, and the gripper will open, releasing it neatly in... | The small spoon is currently in the basket and needs to be moved to the tray; the robotic arm is positioned above the spoon, preparing to pick it up. subtask: grasp | 19 | 25 | 0 | 19 | 0 | put small spoon from basket to tray | ||
[
0.3739888072013855,
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0.3725525438785553,
0,
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] | [
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-0.03771330416202545,
-0.09814021736383438,
0.009866110980510712,
0.00877794623374939,
0
] | 4 | 5 | The robotic arm, currently positioned above the basket, will descend to grasp a small spoon, then lift and pivot toward the tray, releasing the spoon into an empty slot; the gripper will open, leaving the spoon neatly aligned in the tray while the arm retracts slightly to avoid obstruction. | The robotic arm is positioned above the basket and is about to grasp a small spoon. The tray is empty and ready to receive the spoon. The transition requires picking up the spoon from the basket.
subtask: grasp | 20 | 25 | 0 | 20 | 0 | put small spoon from basket to tray | ||
[
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0.3813304901123047,
0,
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] | [
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0
] | 4.2 | 5 | The robot arm hovers above the basket, gripper open, targeting a small spoon. It will descend, close the gripper around the spoon’s handle, lift it clear of the basket, and move rightward toward the tray. The spoon will be placed into an empty slot, the gripper releasing it, leaving the spoon neatly aligned with others... | The robotic arm is positioned above the basket containing utensils, preparing to pick up a small spoon. The tray is empty and ready to receive it. The key change is the spoon moving from basket to tray. subtask: grasp | 21 | 25 | 0 | 21 | 0 | put small spoon from basket to tray | ||
[
0.3655584454536438,
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0.0775146633386612,
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0.4347180724143982,
0,
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] | [
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0.01653074473142624,
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0
] | 4.4 | 5 | The robotic arm is positioned above the basket, ready to grasp a small spoon. It will lower its gripper, securely pick up the spoon, then lift and move it toward the tray. The spoon will be placed neatly into an empty slot, and the gripper will open and retract slightly, leaving the spoon resting in the tray. | The robotic arm is positioned above the basket and has grasped a small spoon; the next step is to move it toward the tray. The spoon must be transferred from the basket’s central compartment to the empty slot in the tray. subtask: move_to | 22 | 25 | 0 | 22 | 0 | put small spoon from basket to tray | ||
[
0.367258220911026,
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0,
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] | [
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-0.017026185989379883,
-0.0031147971749305725,
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0
] | 4.6 | 5 | The robotic arm is positioned above the basket, gripper open, ready to grasp a small spoon. It will close the gripper around the spoon, lift it clear of the basket, and move horizontally toward the tray. The spoon will be placed into an empty slot in the tray, and the gripper will open, releasing the spoon while the ar... | The robotic arm is positioned above the basket and has grasped a small spoon; the next step is to move it toward the tray. The spoon must be transferred from the basket’s compartment to the tray’s slot. subtask: move_to | 23 | 25 | 0 | 23 | 0 | put small spoon from basket to tray | ||
[
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0,
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] | [
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0.0493108332157135,
1
] | 4.8 | 5 | The robotic arm is positioned above the basket, gripper open, ready to grasp the small spoon. It will descend slightly, close the gripper around the spoon’s handle, lift it clear of the basket, then pivot right and lower the spoon into an empty slot in the black tray, releasing it with the gripper opening again. | The robotic arm is positioned above the small spoon in the basket and is preparing to lift it toward the tray. The spoon remains in the basket in the current frame but will be transferred to the tray in the next. subtask: grasp | 24 | 25 | 0 | 24 | 0 | put small spoon from basket to tray | ||
[
0.36221933364868164,
-0.010894938372075558,
0.03776035085320473,
-0.3499797582626343,
-0.13276928663253784,
0.48531094193458557,
0,
0.152132049202919
] | [
0.0003399848937988281,
-0.005312052555382252,
-0.002115625888109207,
-0.004439413547515869,
-0.004402056336402893,
0.022602885961532593,
1
] | 5 | 5 | The robot arm hovers above the basket, gripper open, preparing to grasp a small spoon. It will descend slightly, close the gripper around the spoon’s handle, lift it clear of the basket, and move rightward to position it over the empty slot in the black tray, then release, leaving the spoon neatly aligned within the tr... | The small spoon remains in the basket, and no movement toward the tray is observed; the robot arm is positioned above the basket but has not yet grasped the spoon. subtask: grasp | 25 | 25 | 0 | 25 | 0 | put small spoon from basket to tray | ||
[
0.33752405643463135,
-0.037134505808353424,
0.12459585070610046,
-0.026739027351140976,
-0.47639092803001404,
0.0024788377340883017,
0,
1.0008161067962646
] | [
-0.0028676092624664307,
-0.00031915679574012756,
-0.010419152677059174,
0.0029785186052322388,
0.032133549451828,
-0.0022366840858012438,
1
] | 0 | 2 | The robot arm is positioned above the right blue cube, preparing to grasp it. It will descend, close its gripper around the cube, lift it, and move leftward to place it atop the rectangular block. The cube will no longer rest on the table surface, and the gripper will release it precisely on the block’s top surface. | The blue cube on the right side of the table must be moved onto the rectangular block; currently, it sits beside the block. The robotic arm is positioned to grasp it. subtask: grasp | 0 | 10 | 1 | 26 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.3346564471721649,
-0.03745366260409355,
0.11417669802904129,
-0.023760508745908737,
-0.44425737857818604,
0.0002421536046313122,
0,
1.0001531839370728
] | [
-0.0030847787857055664,
-0.007138889282941818,
-0.0039038434624671936,
-0.040801096707582474,
0.026472538709640503,
0.06130634993314743,
1
] | 0.2 | 2.2 | The robot arm hovers above the right blue cube, preparing to grasp it; once secured, the gripper will lift and shift the cube leftward to position it atop the rectangular block, altering the scene by relocating the cube and changing the arm’s posture mid-motion. | The blue cube on the right side of the table needs to be lifted and placed atop the rectangular block; the robot arm is positioned to grasp it. subtask: grasp | 1 | 11 | 1 | 27 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.33157166838645935,
-0.04459255188703537,
0.1102728545665741,
-0.06456160545349121,
-0.41778483986854553,
0.06154850497841835,
0,
1.0001531839370728
] | [
-0.004994720220565796,
-0.011024728417396545,
-0.011778861284255981,
-0.034783631563186646,
0.058788418769836426,
0.0901826024055481,
1
] | 0.4 | 2.4 | The robot arm is positioned above the right blue cube, preparing to grasp it. It will descend, close its gripper around the cube, lift it, and move leftward to place it atop the rectangular block. The cube will shift from the table’s right side to rest on the block, while the arm retracts slightly after placement. | The blue cube on the right side of the table needs to be lifted and placed atop the rectangular block. The robot arm is positioned to grasp it. The key change is the cube transitioning from resting on the table to being held by the gripper. subtask: grasp | 2 | 12 | 1 | 28 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.32657694816589355,
-0.055617280304431915,
0.09849399328231812,
-0.09934523701667786,
-0.3589964210987091,
0.15173110365867615,
0,
1.0001531839370728
] | [
-0.004262715578079224,
-0.008087240159511566,
-0.012798480689525604,
0.01638946682214737,
0.014670461416244507,
0.023537948727607727,
1
] | 0.6 | 2.6 | The robot arm will grasp the blue cube on the right, lift it, and move it leftward to place it atop the rectangular block, which is currently unoccupied; the gripper will open to release the cube, resulting in the blue cube resting on the rectangular block while the arm retracts slightly. | The blue cube on the right side of the table needs to be moved onto the rectangular block; currently, it sits beside the block. The robot’s gripper is positioned near it, ready to act. subtask: grasp | 3 | 13 | 1 | 29 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.32231423258781433,
-0.06370452046394348,
0.08569551259279251,
-0.08295577019453049,
-0.3443259596824646,
0.17526905238628387,
0,
1.0008161067962646
] | [
-0.005689829587936401,
-0.006978869438171387,
-0.010279953479766846,
0.0069702863693237305,
0.009743720293045044,
0.020584821701049805,
1
] | 0.8 | 2.8 | The robot arm is positioned above the right blue cube, preparing to grasp it. Upon closing the gripper, it will lift the cube and move leftward to place it atop the rectangular block. The cube will shift from the table’s right side to rest on the block, while the arm retracts slightly after placement. | The blue cube on the right side of the table must be moved onto the rectangular block; the robot’s gripper is positioned to grasp it. The key change is the cube transitioning from resting on the table to being lifted toward the block. subtask: grasp | 4 | 14 | 1 | 30 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.31662440299987793,
-0.07068338990211487,
0.07541555911302567,
-0.07598548382520676,
-0.33458223938941956,
0.19585387408733368,
0,
1.0001531839370728
] | [
-0.003066509962081909,
-0.01010683923959732,
-0.007760860025882721,
0.007476702332496643,
-0.002331972122192383,
-0.018050014972686768,
1
] | 1 | 3 | The robot arm is positioned above the right blue cube, preparing to grasp it; once picked up, the gripper will move leftward and lower the cube onto the rectangular block, resulting in the blue cube resting atop it while the arm retracts slightly, leaving the scene with the stacked configuration centered on the table. | The blue cube on the right side of the table must be lifted and placed atop the rectangular block. The robot arm is positioned above it, ready to grasp. The key change is the cube’s vertical displacement and repositioning.
subtask: grasp | 5 | 15 | 1 | 31 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.313557893037796,
-0.08079022914171219,
0.06765469908714294,
-0.06850878149271011,
-0.33691421151161194,
0.1778038591146469,
0,
1.0008161067962646
] | [
-0.0031935274600982666,
-0.013771653175354004,
-0.0019239634275436401,
-0.009991802275180817,
0.0008960962295532227,
-0.01767466962337494,
1
] | 1.2 | 3.2 | The robot arm will grasp the blue cube on the right, lift it, and move it leftward toward the rectangular block near the red and white objects; upon positioning above the block, the gripper will release the cube, placing it atop the rectangular block while the arm retracts slightly to avoid collision. | The blue cube on the right side of the table needs to be lifted and placed atop the rectangular block. The robot’s gripper is positioned near the blue cube, indicating readiness to grasp. The key change is the cube’s elevation and repositioning.
subtask: grasp | 6 | 16 | 1 | 32 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.31036436557769775,
-0.09456188231706619,
0.0657307356595993,
-0.07850058376789093,
-0.3360181152820587,
0.16012918949127197,
0,
1.0008161067962646
] | [
0.00016185641288757324,
-0.008796855807304382,
-0.0031764283776283264,
0.0027621984481811523,
0.0037484169006347656,
-0.00613616406917572,
1
] | 1.4 | 3.4 | The robot arm, currently holding a blue cube, will move it leftward toward the rectangular block while the gripper remains closed. As the arm repositions, the cube will be placed atop the block, aligning with the task goal. The other blue cube and red object remain stationary, and the arm will slightly retract after pl... | The blue cube on the right side of the table must be lifted and placed atop the rectangular block; the robot arm is positioned to grasp it. subtask: grasp | 7 | 17 | 1 | 33 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.3105262219905853,
-0.10335873812437057,
0.06255430728197098,
-0.07573838531970978,
-0.33226969838142395,
0.15399302542209625,
0,
1.0008161067962646
] | [
0.006479352712631226,
-0.006070390343666077,
-0.0031742043793201447,
-0.0007749646902084351,
-0.009514302015304565,
-0.00043360888957977295,
1
] | 1.6 | 3.6 | The robot arm, currently holding a blue cube, will move it toward the rectangular block on the right side of the table and place it precisely on top, causing the cube to shift from the gripper’s grasp to a stable position atop the block while the arm retracts slightly afterward. | The blue cube on the right is being lifted by the gripper and moved toward the rectangular block near the red hexagon. The goal is to place it atop that block. The immediate action is to position the cube directly over the target block.
subtask: move_to | 8 | 18 | 1 | 34 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.31700557470321655,
-0.10942912846803665,
0.05938010290265083,
-0.07651335000991821,
-0.3417840003967285,
0.15355941653251648,
0,
1.0008161067962646
] | [
0.008392751216888428,
0.0007210001349449158,
-0.010951481759548187,
0.025847796350717545,
-0.015819936990737915,
-0.010032162070274353,
1
] | 1.8 | 3.8 | The robot arm, currently gripping a blue cube, will move rightward and slightly upward to position the cube directly above the rectangular block. As it lowers the cube, the gripper will open, releasing the cube onto the block’s surface. The arm will then retract slightly, leaving the blue cube stably placed atop the re... | The blue cube on the right side of the table needs to be lifted and placed atop the rectangular block, which is positioned near the center. The robotic gripper is already near the blue cube, indicating readiness for manipulation. subtask: grasp | 9 | 19 | 1 | 35 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.325398325920105,
-0.10870812833309174,
0.048428621143102646,
-0.05066555365920067,
-0.35760393738746643,
0.14352725446224213,
0,
0.9947922229766846
] | [
0.008930027484893799,
0.0008847936987876892,
-0.015033546835184097,
0.03806086257100105,
-0.00017347931861877441,
-0.02228524535894394,
0
] | 2 | 4 | The robot arm, currently holding a blue cube, will move rightward and slightly upward to position the cube directly above the rectangular block. The gripper will then release the cube, placing it precisely on top of the block. The blue cube previously near the red hexagon will remain untouched, and the arm will retract... | The blue cube on the right is being lifted toward the rectangular block; the key change is its vertical displacement toward placement. The robot gripper holds the cube mid-air above the target position. subtask: place | 10 | 20 | 1 | 36 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.3343283534049988,
-0.10782333463430405,
0.03339507430791855,
-0.012604691088199615,
-0.3577774167060852,
0.12124200910329819,
0,
0.9406655430793762
] | [
0.0034952759742736816,
0.003168538212776184,
-0.007221994921565056,
0.007983425632119179,
-0.006554096937179565,
0.006908394396305084,
0
] | 2.2 | 4.2 | The robot arm, currently gripping a blue cube, will move leftward and slightly upward to position the cube above the rectangular block. As it releases the cube, the gripper will open and retract, leaving the blue cube resting atop the rectangular block while the other blue cube remains untouched nearby. | The blue cube on the right is being lifted by the gripper, indicating preparation to place it atop the rectangular block. The key change is the cube’s elevation and repositioning toward the block. subtask: lift | 11 | 21 | 1 | 37 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.33782362937927246,
-0.10465479642152786,
0.026173079386353493,
-0.004621265921741724,
-0.36433151364326477,
0.12815040349960327,
0,
0.6611326336860657
] | [
-0.0014449656009674072,
0.0014970898628234863,
-0.00037857331335544586,
-0.00878988765180111,
0.015442192554473877,
0.01804530620574951,
0
] | 2.4 | 4.4 | The robot arm, currently gripping a blue cube, will lift and reposition it to the right side of the table, placing it atop the rectangular block. The gripper will open to release the cube, leaving it stacked while the arm retracts slightly, maintaining spatial order with other objects undisturbed. | The blue cube on the right is being lifted by the gripper and moved leftward toward the rectangular block. The key change is the cube’s vertical lift and horizontal repositioning to align above the target block. subtask: move_to | 12 | 22 | 1 | 38 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.33637866377830505,
-0.10315770655870438,
0.025794506072998047,
-0.013411153107881546,
-0.3488893210887909,
0.14619570970535278,
0,
0.590900182723999
] | [
-0.002459794282913208,
-0.004026137292385101,
0.01778772845864296,
-0.02768976241350174,
0.019988596439361572,
-0.005398929119110107,
0
] | 2.6 | 4.6 | The robot arm, currently holding a blue cube, will move leftward and slightly upward to position the cube directly above the rectangular block. As it releases the cube, the gripper will open, leaving the blue cube resting atop the block while the arm retracts slightly to avoid contact, completing the placement task. | The blue cube on the right is being lifted by the gripper and moved toward the rectangular block near the center. To place it on top, the gripper must first position the cube directly above the block. subtask: move_to | 13 | 23 | 1 | 39 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.33391886949539185,
-0.10718384385108948,
0.043582234531641006,
-0.041100915521383286,
-0.3289007246494293,
0.14079678058624268,
0,
0.590900182723999
] | [
0.014221727848052979,
-0.002843298017978668,
0.02874443307518959,
-0.045579683035612106,
-0.029691100120544434,
0.008913785219192505,
0
] | 2.8 | 4.8 | The robot arm, currently gripping a blue cube, will move leftward and slightly upward to position the cube directly above the rectangular block on the table’s right side. Upon release, the blue cube will rest atop the block, while the gripper opens and retracts slightly, leaving the red and white objects undisturbed in... | The blue cube is being lifted from the table and moved toward the rectangular block on the right. The goal is to place it on top, so the immediate action is to position it above the block. subtask: move_to | 14 | 24 | 1 | 40 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.3481405973434448,
-0.11002714186906815,
0.0723266676068306,
-0.08668059855699539,
-0.35859182476997375,
0.14971056580543518,
0,
0.590900182723999
] | [
0.024302154779434204,
0.0028842464089393616,
0.02468935400247574,
-0.02046787738800049,
-0.035744547843933105,
-0.002286568284034729,
0
] | 3 | 5 | The robot arm currently holds a blue cube above the table while another blue cube rests nearby; to complete the task, it must place the held cube atop the rectangular block on the right. As the arm lowers, the gripper will release the cube, settling it precisely on the block, leaving the other blue cube undisturbed and... | The blue cube is currently on the table near the center, while the rectangular block is on the right side. To achieve the goal, the blue cube must be moved and placed on top of the rectangular block. The robot arm is positioned to pick up the blue cube.
subtask: grasp | 15 | 25 | 1 | 41 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.37244275212287903,
-0.10714289546012878,
0.09701602160930634,
-0.10714847594499588,
-0.39433637261390686,
0.14742399752140045,
0,
0.590900182723999
] | [
0.019641757011413574,
0.006364099681377411,
-0.0012736618518829346,
0.02756582945585251,
0.0013235211372375488,
-0.0309709832072258,
0
] | 3.2 | 5.2 | The robot arm holds the blue cube mid-air above the table, preparing to place it atop the rectangular block on the right. As it lowers the cube, the gripper opens slightly, releasing it precisely onto the block’s surface, aligning it stably while the red and white objects remain undisturbed to the left. | The blue cube is being moved toward the rectangular block on the right side of the table, indicating preparation for placement. The key change is the cube’s position shifting closer to the target block. subtask: move_to | 16 | 26 | 1 | 42 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.3920845091342926,
-0.10077879577875137,
0.0957423597574234,
-0.07958264648914337,
-0.3930128514766693,
0.11645301431417465,
0,
0.590900182723999
] | [
0.013949692249298096,
0.004156433045864105,
-0.0016500875353813171,
0.021728046238422394,
-0.0053161680698394775,
-0.036479316651821136,
0
] | 3.4 | 5.4 | The robot arm holds the blue cube above the table, poised to place it on the rectangular block to the right. As it lowers the cube, the gripper opens slightly to release it precisely atop the block. The cube settles into position, aligning visually with the block while the arm retracts slightly, maintaining stability a... | The blue cube is currently on the table near the center, while the rectangular block is positioned slightly to the right. The robot arm is approaching the blue cube from above. To achieve the goal, the robot must first grasp the blue cube.
subtask: grasp | 17 | 27 | 1 | 43 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4060342013835907,
-0.09662236273288727,
0.09409227222204208,
-0.05785460025072098,
-0.3983290195465088,
0.07997369766235352,
0,
0.590900182723999
] | [
0.008420854806900024,
0.002885095775127411,
-0.009176947176456451,
0.034490685909986496,
0.013701409101486206,
-0.06968385726213455,
0
] | 3.6 | 5.6 | The robot arm is poised above the blue cube near the center of the table, gripper open and ready to grasp. It will descend, close around the cube, lift it, and move rightward to place it atop the rectangular block. The blue cube will then rest centered on the block, with the arm retracting slightly upward and the gripp... | The blue cube is currently beside the red hexagonal block and needs to be placed atop the rectangular block to the right. The robot’s gripper is positioned above the blue cube, ready to grasp it. subtask: grasp | 18 | 28 | 1 | 44 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4144550561904907,
-0.09373726695775986,
0.08491532504558563,
-0.023363914340734482,
-0.3846276104450226,
0.010289838537573814,
0,
0.590900182723999
] | [
0.007330894470214844,
0.0038031786680221558,
-0.0010985806584358215,
0.011034647934138775,
-0.005320370197296143,
-0.016321567818522453,
0
] | 3.8 | 5.8 | The robot arm is positioned above the blue cube on the right side of the table, preparing to grasp it. It will lower its gripper, secure the cube, lift it, and move it leftward to place it atop the rectangular block. The blue cube will no longer rest on the table surface but will be stacked, altering the spatial arrang... | The blue cube remains on the table near the red hexagon and white cylinder, while the robotic arm hovers above a wooden block on the right. To achieve the goal, the arm must first grasp the blue cube. subtask: grasp | 19 | 29 | 1 | 45 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.42178595066070557,
-0.0899340882897377,
0.08381674438714981,
-0.012329266406595707,
-0.3899479806423187,
-0.006031729746609926,
0,
0.590900182723999
] | [
0.0015596449375152588,
0.006646730005741119,
-0.0076241567730903625,
0.01337257120758295,
0.014833331108093262,
0.0016256552189588547,
0
] | 4 | 6 | The robot arm holds the blue cube above the rectangular block on the right side of the table; it will soon lower the cube to place it precisely atop the block, while the gripper opens to release it, leaving the blue cube stacked and the arm retracted slightly upward. | The blue cube remains on the table near the red hexagon and white cylinder, while the robotic arm holds another blue cube above a rectangular block on the right. To achieve the goal, the held blue cube must be placed atop the rectangular block. subtask: place | 20 | 30 | 1 | 46 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4233455955982208,
-0.08328735828399658,
0.07619258761405945,
0.0010433045681566,
-0.37511464953422546,
-0.0044060745276510715,
0,
0.590900182723999
] | [
0.0044498443603515625,
0.004736252129077911,
0.0028206557035446167,
0.00038282631430774927,
-0.01548999547958374,
0.007462765090167522,
0
] | 4.2 | 6.2 | The robot arm is positioned above the blue cube near the center of the table, preparing to grasp it. It will lower its gripper, secure the cube, lift it, and move rightward to place it atop the rectangular block. The blue cube will no longer rest on the table surface but will be stacked, altering the spatial arrangemen... | The blue cube remains on the table near the red hexagonal block, while the robotic arm holds another blue cube above a rectangular block on the right. To achieve the goal, the held blue cube must be placed atop the rectangular block. subtask: place | 21 | 31 | 1 | 47 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4277954399585724,
-0.07855110615491867,
0.07901324331760406,
0.0014261308824643493,
-0.3906046450138092,
0.003056690562516451,
0,
0.590900182723999
] | [
0.0059792399406433105,
0.003999494016170502,
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0.01689128577709198,
0
] | 4.4 | 6.4 | The robot arm holds the blue cube above the rectangular block on the right side of the table; it will lower the cube precisely onto the block’s surface, releasing it to rest stably while the gripper opens and retracts slightly upward, leaving the blue cube positioned atop the rectangular block as intended. | The blue cube remains on the table near the red hexagonal block, and no change indicates it has been placed atop the rectangular block; thus, the goal is not yet achieved. The robot must first grasp the blue cube. subtask: grasp | 22 | 32 | 1 | 48 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4337746798992157,
-0.07455161213874817,
0.07678567618131638,
-0.0029820806812494993,
-0.39621639251708984,
0.019947975873947144,
0,
0.5899012684822083
] | [
0.0013865232467651367,
0.0017114877700805664,
-0.005508117377758026,
-0.0007231461349874735,
0.006098836660385132,
0.008488109335303307,
0
] | 4.6 | 6.6 | The robot arm holds the blue cube above the rectangular block, preparing to place it. The gripper remains closed around the cube as the arm hovers steadily. The red and white blocks stay undisturbed on the left. The blue cube will soon rest atop the rectangular block, completing the task with no other objects moved. | The blue cube remains on the table near the red hexagon and white cylinder, while the robot holds another blue cube above a rectangular block on the right. To achieve the goal, the robot must place the held blue cube onto the rectangular block. subtask: place | 23 | 33 | 1 | 49 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.43516120314598083,
-0.0728401243686676,
0.07127755880355835,
-0.003705226816236973,
-0.3901175558567047,
0.02843608520925045,
0,
0.590900182723999
] | [
0.004149407148361206,
-0.0009178146719932556,
-0.001904413104057312,
-0.004116633906960487,
-0.007324874401092529,
0.005029117688536644,
0
] | 4.8 | 6.8 | The robot arm is positioned above the blue cube near the center of the table, preparing to grasp it. It will then lift and move the cube to the right side, placing it atop the rectangular block. The gripper will open after placement, leaving the blue cube balanced on the block while the arm retracts slightly. | The blue cube remains on the table near the red and white blocks, showing no movement toward the rectangular block on the right. To progress, the robot must first approach the blue cube. subtask: approach | 24 | 34 | 1 | 50 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.43931061029434204,
-0.07375793904066086,
0.06937314569950104,
-0.00782186072319746,
-0.39744243025779724,
0.033465202897787094,
0,
0.5899012684822083
] | [
0.0018703043460845947,
0.00047916918992996216,
-0.0024895071983337402,
0.002877814695239067,
-0.007601618766784668,
0.002233292907476425,
0
] | 5 | 7 | The robot arm holds the blue cube above the rectangular block on the right side of the table, preparing to place it. The gripper is open, ready to release the cube. Once placed, the blue cube will rest atop the rectangular block, completing the task while other objects remain undisturbed. | The blue cube remains on the table near the red hexagonal block, while the robotic arm holds another blue cube above a rectangular block on the right. To achieve the goal, the held blue cube must be placed atop the rectangular block. subtask: place | 25 | 35 | 1 | 51 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.44118091464042664,
-0.0732787698507309,
0.0668836385011673,
-0.004944046027958393,
-0.4050440490245819,
0.03569849580526352,
0,
0.590900182723999
] | [
0.0028824806213378906,
0.0006639733910560608,
-0.0017534121870994568,
-0.0006112675182521343,
-0.03244790434837341,
0.012525089085102081,
1
] | 5.2 | 7.2 | The robot arm holds the blue cube above the rectangular block, preparing to place it. The gripper will release the cube, allowing it to settle atop the block. The arm will then retract slightly, leaving the blue cube stably positioned on the right side of the table, completing the task. | The blue cube is currently beside the red hexagonal block and needs to be placed atop the rectangular block to the right. The robot’s gripper is positioned above the blue cube, ready to grasp it. subtask: grasp | 26 | 36 | 1 | 52 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4440633952617645,
-0.07261479645967484,
0.06513022631406784,
-0.005555313546210527,
-0.4374919533729553,
0.0482235848903656,
0,
0.6420453786849976
] | [
0.00011071562767028809,
0.0015811026096343994,
-0.009359322488307953,
-0.01702032797038555,
-0.04301273822784424,
0.04600808769464493,
1
] | 5.4 | 7.4 | The robot arm is holding the blue cube above the rectangular block on the right side of the table. It will lower the cube vertically to place it precisely on top of the block, ensuring stable contact. The gripper will then open slightly to release the cube, leaving it balanced atop the block while the arm retracts slig... | The blue cube is currently beside the rectangular block on the right side of the table; to achieve the goal, it must be lifted and placed atop the rectangular block. The robotic gripper is positioned above the blue cube, ready to grasp it.
subtask: grasp | 27 | 37 | 1 | 53 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4441741108894348,
-0.07103369385004044,
0.05577090382575989,
-0.02257564105093479,
-0.48050469160079956,
0.09423167258501053,
0,
0.9492040276527405
] | [
0.0012097656726837158,
0.0005263611674308777,
-0.002810865640640259,
-0.02429026924073696,
-0.029717206954956055,
0.04303988069295883,
1
] | 5.6 | 7.6 | The robot arm holds the blue cube above the rectangular block on the right side of the table, preparing to place it. The gripper remains open as the arm positions the cube precisely over the block. Once aligned, the gripper will close slightly to secure placement, then release, leaving the blue cube resting stably atop... | The blue cube remains on the table near the red hexagon and white cylinder, while the robotic arm holds a blue cube above a rectangular block on the right. To achieve the goal, the arm must place the held blue cube onto the rectangular block. subtask: place | 28 | 38 | 1 | 54 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.44538387656211853,
-0.07050733268260956,
0.05296003818511963,
-0.04686591029167175,
-0.5102218985557556,
0.13727155327796936,
0,
1.0008161067962646
] | [
0.00004437565803527832,
-0.0028135553002357483,
-0.000012118369340896606,
-0.03272021561861038,
0.003876030445098877,
0.03103409707546234,
1
] | 5.8 | 7.8 | The robot arm holds the blue cube above the table, poised to place it on the rectangular block to the right. As it lowers the cube, the gripper opens slightly to release it precisely atop the block. The blue cube settles into place while the arm retracts, leaving the objects stable and the task visually completed. | The blue cube is currently on the table near the red hexagonal block, while the rectangular block is held by the robot’s gripper on the right. To achieve the goal, the robot must place the blue cube atop the rectangular block. subtask: place | 29 | 39 | 1 | 55 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4454282522201538,
-0.0733208879828453,
0.05294791981577873,
-0.07958612591028214,
-0.5063458681106567,
0.1683056503534317,
0,
0.9994885921478271
] | [
-0.0011012554168701172,
-0.0018265023827552795,
0.0029581189155578613,
-0.012196250259876251,
-0.001814424991607666,
-0.0034967362880706787,
0
] | 6 | 8 | The robot arm is positioned above the blue cube near the center of the table, preparing to grasp it. It will descend, close its gripper around the cube, lift it, and move rightward to place it atop the rectangular block. The cube will shift from the table surface to rest on the block, while the arm retracts slightly af... | The blue cube is currently beside the red hexagonal block and needs to be placed atop the rectangular block to the right. The robot’s gripper is positioned near the blue cube, indicating readiness to grasp it. subtask: grasp | 30 | 40 | 1 | 56 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4443269968032837,
-0.07514739036560059,
0.055906038731336594,
-0.09178237617015839,
-0.5081602931022644,
0.16480891406536102,
0,
0.9672539830207825
] | [
-0.000529944896697998,
-0.00012017786502838135,
0.009523291140794754,
-0.01577766239643097,
-0.010941684246063232,
0.013231828808784485,
0
] | 6.2 | 8.2 | The robot arm is positioned above the blue cube near the rectangular block; it will grasp the cube, lift it slightly, and place it atop the rectangular block on the right side of the table, resulting in the blue cube resting stably on the block while the arm retracts slightly to avoid collision. | The blue cube remains beside the red hexagonal block, and no stacking has occurred; the robot arm is positioned above the blue cube, indicating readiness to grasp. To progress, the arm must pick up the blue cube to place it atop the rectangular block. subtask: grasp | 31 | 41 | 1 | 57 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4437970519065857,
-0.07526756823062897,
0.06542932987213135,
-0.10756003856658936,
-0.5191019773483276,
0.1780407428741455,
0,
0.6951970458030701
] | [
0.00041538476943969727,
0.002139538526535034,
-0.000022962689399719238,
0.020418472588062286,
-0.007486402988433838,
-0.015829548239707947,
0
] | 6.4 | 8.4 | The robot arm is positioned above the blue cube on the right, preparing to grasp it. It will lift the cube, move it slightly leftward, and place it atop the rectangular block. The gripper will open after release, leaving the blue cube stacked neatly while the surrounding objects remain undisturbed. | The blue cube is currently on the table near the center, while the rectangular block is held by the gripper on the right. To place the blue cube atop the rectangular block, the gripper must first release the block to create a stable base. subtask: place | 32 | 42 | 1 | 58 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4442124366760254,
-0.07312802970409393,
0.06540636718273163,
-0.08714156597852707,
-0.5265883803367615,
0.16221119463443756,
0,
0.5799254179000854
] | [
-0.00014215707778930664,
0.00230427086353302,
0.0005717575550079346,
0.022469453513622284,
-0.002968907356262207,
-0.01634444296360016,
1
] | 6.6 | 8.6 | The robot arm holds the blue cube above the rectangular block on the right, preparing to place it. As it lowers the cube, the gripper opens slightly, releasing the cube onto the block’s top surface. The blue cube settles steadily atop the rectangular block, completing the task while other objects remain undisturbed on ... | The blue cube is currently beside the red hexagonal block, while the rectangular block is on the right side of the table. To achieve the goal, the blue cube must be moved onto the rectangular block. The robot’s gripper is positioned above the blue cube, ready to grasp it.
subtask: grasp | 33 | 43 | 1 | 59 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4440702795982361,
-0.07082375884056091,
0.06597812473773956,
-0.06467211246490479,
-0.5295572876930237,
0.1458667516708374,
0,
0.58391273021698
] | [
-0.002749919891357422,
0.0008172616362571716,
-0.0016447603702545166,
-0.0007506906986236572,
0.021039962768554688,
0.010265111923217773,
1
] | 6.8 | 8.8 | The robot arm is poised to grasp the blue cube near the center of the table; it will lift and move it rightward to place atop the rectangular block already positioned there, resulting in the blue cube resting stably on the block while the arm retracts slightly, leaving the red and white objects undisturbed. | The blue cube is currently beside the red hexagonal block, while the rectangular block sits farther right. To achieve the goal, the blue cube must be moved onto the rectangular block. The robot arm is positioned to grasp the blue cube.
subtask: grasp | 34 | 44 | 1 | 60 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.44132035970687866,
-0.07000649720430374,
0.06433336436748505,
-0.06542280316352844,
-0.508517324924469,
0.15613186359405518,
0,
0.639030933380127
] | [
-0.002952277660369873,
-0.001598261296749115,
-0.002519071102142334,
-0.009265206754207611,
0.022541433572769165,
0.004509627819061279,
1
] | 7 | 8.8 | The robot arm, currently holding the blue cube above the rectangular block, will lower it gently onto the block’s surface, securing it on the right side of the table; the gripper will then open and retract slightly, leaving the blue cube stably stacked while the red and white objects remain undisturbed nearby. | The blue cube is currently beside the red hexagonal block, while the rectangular block with a blue cube on top is on the right side of the table. To achieve the goal, the blue cube must be moved to the right and placed atop the rectangular block. subtask: move_to | 35 | 44 | 1 | 61 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4383680820465088,
-0.07160475850105286,
0.06181429326534271,
-0.07468800991773605,
-0.48597589135169983,
0.16064149141311646,
0,
0.9231109023094177
] | [
-0.0011087656021118164,
0.000692218542098999,
-0.0010039955377578735,
-0.01047930121421814,
0.01069951057434082,
0.0118245929479599,
0
] | 7.2 | 8.8 | The robot arm is positioned near the blue cube on the left, preparing to grasp it. It will lift the cube, move it rightward over the rectangular block, and carefully place it on top. The gripper will open after placement, leaving the blue cube stacked atop the rectangular block while the arm retracts slightly. | The blue cube is currently beside the rectangular block on the right side of the table; to achieve the goal, it must be placed on top of the block. The robot arm is positioned above the blue cube, ready to grasp it.
subtask: grasp | 36 | 44 | 1 | 62 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.437259316444397,
-0.07091253995895386,
0.06081029772758484,
-0.0851673111319542,
-0.475276380777359,
0.17246608436107635,
0,
0.905788779258728
] | [
-0.004505038261413574,
0.0036273226141929626,
-0.005045279860496521,
0.011279448866844177,
0.015320897102355957,
0.0013514608144760132,
1
] | 7.4 | 8.8 | The robot arm is currently holding the blue cube above the rectangular block on the right side of the table. It will gently lower the blue cube onto the rectangular block, ensuring stable placement. Once released, the arm will retract slightly, leaving the blue cube resting atop the block while other objects remain und... | The blue cube is currently on the table near the center, while the rectangular block is on the right side. To achieve the goal, the blue cube must be moved onto the rectangular block. The robotic arm is positioned above the blue cube, ready to grasp it.
subtask: grasp | 37 | 44 | 1 | 63 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4327542781829834,
-0.0672852173447609,
0.05576501786708832,
-0.07388786226511002,
-0.45995548367500305,
0.17381754517555237,
0,
0.748681366443634
] | [
-0.00008362531661987305,
0.0013270974159240723,
0.0034489817917346954,
-0.0013177022337913513,
-0.005530804395675659,
0.00918637216091156,
1
] | 7.6 | 8.8 | The robot arm, currently holding the blue cube, will move rightward and lower the cube onto the rectangular block already positioned on the right side of the table, releasing it to rest stably atop the block while the gripper opens and retracts slightly, leaving the blue cube settled in its new location. | The blue cube is currently beside the red hexagonal block, while the rectangular block is to its right. To achieve the goal, the blue cube must be moved onto the rectangular block. The robot’s gripper is positioned to grasp the blue cube.
subtask: grasp | 38 | 44 | 1 | 64 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4326706528663635,
-0.06595811992883682,
0.05921399965882301,
-0.07520556449890137,
-0.4654862880706787,
0.18300391733646393,
0,
0.9766865372657776
] | [
-0.0011851787567138672,
-0.0001970231533050537,
-0.0005988478660583496,
-0.0019901543855667114,
0.00881868600845337,
0.004826366901397705,
1
] | 7.8 | 8.8 | The robot arm currently holds the blue cube above the table, poised to place it. It will lower the cube and position it precisely on top of the rectangular block to the right, ensuring stable contact. The gripper will then open and retract, leaving the blue cube balanced atop the block while other objects remain undist... | The blue cube is currently on the table near the red and white blocks; in the future frame, it rests atop the rectangular block on the right. To achieve this, the robot must first grasp the blue cube and then place it precisely on the rectangular block. subtask: place | 39 | 44 | 1 | 65 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.43148547410964966,
-0.06615514308214188,
0.058615151792764664,
-0.07719571888446808,
-0.45666760206222534,
0.18783028423786163,
0,
1.0001531839370728
] | [
-0.0009502768516540527,
0.00010641664266586304,
-0.0005227252840995789,
-0.0003159865736961365,
0.007606774568557739,
-0.002806350588798523,
1
] | 8 | 8.8 | The robot arm is currently holding the blue cube near the right side of the table; it will soon place it atop the rectangular block already positioned there. As the gripper releases the cube, the blue cube will rest stably on the block while the arm retracts slightly, leaving the scene with the stacked configuration cl... | The blue cube is currently beside the red hexagon and white cylinder, while the rectangular block is to the right. To achieve the goal, the blue cube must be moved onto the rectangular block. subtask: move_to | 40 | 44 | 1 | 66 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4305351972579956,
-0.06604872643947601,
0.058092426508665085,
-0.07751170545816422,
-0.4490608274936676,
0.1850239336490631,
0,
1.0001531839370728
] | [
-0.0014960169792175293,
0.0017198547720909119,
0.01153191551566124,
-0.023506246507167816,
-0.00029152631759643555,
0.006525874137878418,
1
] | 8.2 | 8.8 | The robot arm is currently holding the blue cube above the rectangular block on the right side of the table; it will soon lower the cube to place it precisely on top of the block, resulting in the blue cube resting stably atop the rectangular block while the arm retracts slightly. | The blue cube is currently beside the red hexagon and white cylinder, while the rectangular block is to its right; to achieve the goal, the blue cube must be moved onto the rectangular block. subtask: move_to | 41 | 44 | 1 | 67 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.4290391802787781,
-0.0643288716673851,
0.06962434202432632,
-0.10101795196533203,
-0.44935235381126404,
0.19154980778694153,
0,
1.0001531839370728
] | [
-0.003166764974594116,
0.015962842851877213,
0.05045062303543091,
-0.06683771312236786,
-0.0549788773059845,
0.027827411890029907,
1
] | 8.4 | 8.8 | The robot arm currently holds the blue cube above the table; it will move rightward and lower the cube onto the rectangular block already positioned there, releasing it to rest stably atop the block while the gripper retracts slightly, leaving the blue cube centered on the rectangular base. | The blue cube is currently on the table near the red hexagonal block, while the rectangular block is positioned further right. To achieve the goal, the blue cube must be moved onto the rectangular block. The robot’s gripper is positioned above the blue cube, indicating readiness to grasp it.
subtask: grasp | 42 | 44 | 1 | 68 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.42587241530418396,
-0.04836602881550789,
0.12007496505975723,
-0.1678556650876999,
-0.5043312311172485,
0.21937721967697144,
0,
1.0001531839370728
] | [
-0.022227466106414795,
0.02569006383419037,
0.04540311545133591,
-0.033593207597732544,
-0.07232135534286499,
0.005117863416671753,
1
] | 8.6 | 8.8 | The robot arm will move toward the blue cube on the right, grasp it with the gripper, lift it slightly, and reposition it directly atop the rectangular block already there, ensuring stable placement while the rest of the objects remain undisturbed on the table surface. | The blue cube remains on the table near the center, while the rectangular block is already topped with a blue cube on the right side; no change is needed as the goal is met. subtask: finish | 43 | 44 | 1 | 69 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.40364494919776917,
-0.02267596498131752,
0.16547808051109314,
-0.20144887268543243,
-0.5766525864601135,
0.2244950830936432,
0,
1.0001531839370728
] | [
-0.0027531981468200684,
0.006060555577278137,
0.010985150933265686,
-0.006553575396537781,
-0.02647298574447632,
0.009769558906555176,
1
] | 8.8 | 8.8 | The robot arm is positioned near the blue cube on the left, which must be moved to the right side and placed atop the rectangular block. The gripper will close around the cube, lift it, and reposition it precisely over the block. After placement, the gripper will open and retract, leaving the blue cube stacked stably o... | The blue cube remains on the table beside the red hexagonal block, and no change is visible between the current and future frames; the goal of placing the blue cube atop the rectangular block is unfulfilled. subtask: finish | 44 | 44 | 1 | 70 | 1 | put the blue cube on the right side of the table on top of the rectangular block | ||
[
0.25640377402305603,
0.0764385536313057,
0.1734902560710907,
0.0518902912735939,
-0.04780814051628113,
0.10506817698478699,
0,
1.0001531839370728
] | [
0.0035172104835510254,
0.0009349137544631958,
-0.006964325904846191,
-0.0027531832456588745,
0.014768145978450775,
0.007293052971363068,
1
] | 0 | 2 | The robot arm will descend toward the red object, grasp it with the gripper, then lift and move it directly over the pot before releasing it inside. The red object will no longer rest on the countertop but will be positioned within the pot, while the arm retracts slightly and the gripper opens above the pot. | The red object is currently beside the pot on the wooden surface; to achieve the goal, it must be moved into the pot. The key change is the red object’s position transitioning from outside to inside the pot. subtask: place | 0 | 10 | 2 | 71 | 2 | put the red object into the pot | ||
[
0.25992098450660706,
0.07737346738576889,
0.1665259301662445,
0.04913710802793503,
-0.03303999453783035,
0.11236122995615005,
0,
1.0001531839370728
] | [
0.022339582443237305,
0.0008105561137199402,
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0.005049895495176315,
-0.008448474109172821,
0.007025174796581268,
1
] | 0.2 | 2.2 | The robotic arm will grasp the red object, lift it from the countertop, and move it directly above the pot before releasing it into the pot’s interior, causing the red object to settle inside while the arm retracts slightly, leaving the pot containing the red object centered on the counter. | The red object has been moved from the pot’s vicinity to the left side of the countertop near the wall, indicating it was removed rather than placed inside. To achieve the goal, the red object must be repositioned into the pot. subtask: move_to | 1 | 11 | 2 | 72 | 2 | put the red object into the pot | ||
[
0.28226056694984436,
0.07818402349948883,
0.14571484923362732,
0.05418700352311134,
-0.041488468647003174,
0.11938640475273132,
0,
1.0001531839370728
] | [
0.028803855180740356,
-0.00570911169052124,
-0.019442513585090637,
0.028879906982183456,
-0.0037570595741271973,
0.027202144265174866,
1
] | 0.4 | 2.4 | The robot arm will grasp the red object near the pot, lift it slightly, and then lower it into the pot’s interior. The gripper will open to release the object, leaving it settled inside the pot. The arm will then retract upward, clearing the workspace while the pot remains stationary on the countertop. | The red object remains beside the pot on the wooden surface; no insertion has occurred. To progress, the red object must be grasped and placed into the pot. subtask: grasp | 2 | 12 | 2 | 73 | 2 | put the red object into the pot | ||
[
0.3110644221305847,
0.07247491180896759,
0.12627233564853668,
0.0830669105052948,
-0.04524552822113037,
0.1465885490179062,
0,
1.0001531839370728
] | [
0.022704899311065674,
-0.0027425214648246765,
-0.02180350571870804,
-0.010423831641674042,
-0.012212861329317093,
0.040187954902648926,
1
] | 0.6 | 2.6 | The robot arm is positioned above the red object, preparing to grasp it; the gripper will close around the object, lift it, and move it directly over the pot before releasing it into the pot’s interior, resulting in the red object resting inside the pot while the arm retracts slightly. | The red object remains beside the pot, and no change indicates it has been placed inside; thus, the required action is to grasp and move the red object into the pot. subtask: place | 3 | 13 | 2 | 74 | 2 | put the red object into the pot | ||
[
0.3337693214416504,
0.06973239034414291,
0.10446882992982864,
0.07264307886362076,
-0.057458389550447464,
0.18677650392055511,
0,
1.0001531839370728
] | [
0.019714921712875366,
-0.00304286926984787,
-0.023411236703395844,
-0.0007989406585693359,
0.00810379907488823,
0.03579889237880707,
1
] | 0.8 | 2.8 | The robot arm is positioned above the red object, preparing to grasp it; once secured, the gripper will lift and move the object directly over the pot, then release it into the pot’s interior, resulting in the red object resting inside the pot while the arm retracts slightly overhead. | The red object is currently beside the pot; to place it inside, the robot must grasp and lower it into the pot. The future frame shows the red object positioned within the pot, indicating successful placement.
subtask: place | 4 | 14 | 2 | 75 | 2 | put the red object into the pot | ||
[
0.35348424315452576,
0.06668952107429504,
0.0810575932264328,
0.07184413820505142,
-0.049354590475559235,
0.22257539629936218,
0,
1.0001531839370728
] | [
0.016041040420532227,
-0.0008640885353088379,
-0.015914537012577057,
0.0033376216888427734,
0.035876721143722534,
0.001974254846572876,
1
] | 1 | 3 | The robot arm is positioned above the red object, preparing to grasp it. It will lower its gripper to pick up the red object, then lift and move it directly over the pot. The gripper will open to release the red object into the pot, completing the task while the surrounding items remain undisturbed. | The red object remains on the left side of the countertop near the yellow cloth, and no change indicates it has been moved toward or into the pot. Since the goal is to put the red object into the pot and it hasn’t been moved yet, the next step is to approach it. subtask: approach | 5 | 15 | 2 | 76 | 2 | put the red object into the pot | ||
[
0.369525283575058,
0.0658254325389862,
0.06514305621385574,
0.0751817598938942,
-0.013477870263159275,
0.22454965114593506,
0,
1.0001531839370728
] | [
0.006091088056564331,
0.0007383525371551514,
-0.00565863773226738,
-0.007775120437145233,
0.006992816925048828,
0.00402320921421051,
1
] | 1.2 | 3.2 | The robot arm is positioned above the red object, preparing to grasp it. The gripper will close around the object, lift it, and move it toward the pot. The red object will then be released into the pot, with the arm retracting slightly afterward, leaving the pot containing the red object on the countertop. | The red object remains beside the pot, and no physical change occurs between frames; the task of placing it into the pot is unfulfilled. Since no manipulation is observed and the goal isn’t met, no action is executed. subtask: finish | 6 | 16 | 2 | 77 | 2 | put the red object into the pot | ||
[
0.3756163716316223,
0.06656378507614136,
0.059484418481588364,
0.06740663945674896,
-0.006485053338110447,
0.22857286036014557,
0,
1.0001531839370728
] | [
0.003682166337966919,
0.008981302380561829,
-0.005022555589675903,
-0.0016142874956130981,
0.0235447958111763,
0.020585104823112488,
1
] | 1.4 | 3.4 | The robot arm is positioned above the red object, preparing to grasp it; once secured, the gripper will lift and move the object toward the pot, lowering it inside. The pot remains stationary on the counter, and the surrounding items stay undisturbed as the arm completes the transfer. | The red object remains beside the pot, and no change indicates it has been placed inside; thus, the required action is to pick it up and drop it into the pot. subtask: grasp the red object and place it into the pot. | 7 | 17 | 2 | 78 | 2 | put the red object into the pot | ||
[
0.37929853796958923,
0.07554508745670319,
0.05446186289191246,
0.06579235196113586,
0.01705974154174328,
0.24915796518325806,
0,
1.0001531839370728
] | [
0.003796875476837158,
0.006530784070491791,
-0.0018960051238536835,
0.0068397969007492065,
0.008859317749738693,
0.008342742919921875,
1
] | 1.6 | 3.6 | The robot arm is positioned above the red object, ready to grasp it. It will lower the gripper to pick up the red object, then lift and move it directly over the pot. The gripper will open, releasing the red object into the pot, after which the arm will retract slightly, leaving the object inside the pot and the grippe... | The red object remains beside the pot on the wooden surface, unchanged in position relative to the pot and surrounding items. No physical interaction or movement has occurred. The goal of placing the red object into the pot is not yet achieved. subtask: grasp | 8 | 18 | 2 | 79 | 2 | put the red object into the pot | ||
[
0.3830954134464264,
0.08207587152719498,
0.05256585776805878,
0.07263214886188507,
0.025919059291481972,
0.25750070810317993,
0,
1.0001531839370728
] | [
-0.00044861435890197754,
0.007299207150936127,
-0.0019948408007621765,
0.0006887838244438171,
0.00783524475991726,
0.015903323888778687,
1
] | 1.8 | 3.8 | The robot arm is positioned above the red object, preparing to grasp it. The pot sits nearby on the wooden surface, ready to receive the object. The gripper will close around the red item, lift it, and move it directly over the pot, releasing it inside while maintaining stability and precision. | The red object remains beside the pot, and no change indicates it has been placed inside; thus, the required action is to grasp and place it into the pot. subtask: place | 9 | 19 | 2 | 80 | 2 | put the red object into the pot | ||
[
0.3826467990875244,
0.0893750786781311,
0.0505710169672966,
0.07332093268632889,
0.03375430405139923,
0.2734040319919586,
0,
1.0001531839370728
] | [
-0.0019768476486206055,
-0.000023633241653442383,
-0.011436410248279572,
0.0007113143801689148,
0.029171139001846313,
0.0021674036979675293,
1
] | 2 | 4 | The robot arm, currently holding the red object above the pot, will lower it steadily into the pot’s center. The gripper will release the object, letting it rest inside the pot, while the arm retracts slightly upward. The pot remains stationary on the wooden surface, and the red object’s position shifts from airborne t... | The red object remains beside the pot on the wooden surface, unchanged in position relative to the pot, indicating no progress toward insertion. The scene requires initiating contact with the red object to begin placement. subtask: grasp | 10 | 20 | 2 | 81 | 2 | put the red object into the pot | ||
[
0.3806699514389038,
0.08935144543647766,
0.03913460671901703,
0.0740322470664978,
0.06292544305324554,
0.27557143568992615,
0,
1.0001531839370728
] | [
0.00007736682891845703,
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-0.0004069320857524872,
-0.006596863269805908,
0.0017418265342712402,
0.004195362329483032,
1
] | 2.2 | 4.2 | The robot arm is positioned above the red object, which lies beside the pot. To complete the task, the arm must lower its gripper to grasp the red object, then lift and move it directly over the pot before releasing it inside. The future state should show the red object resting within the pot, with the arm retracted an... | The red object remains beside the pot, unchanged in position relative to the pot and surrounding items; no progress toward insertion is visible. subtask: finish | 11 | 21 | 2 | 82 | 2 | put the red object into the pot | ||
[
0.38074731826782227,
0.08697955310344696,
0.03872767463326454,
0.0674353837966919,
0.06466726958751678,
0.2797667980194092,
0,
1.0001531839370728
] | [
0.0002696812152862549,
-0.0018093809485435486,
-0.002162627875804901,
-0.010707277804613113,
0.005422808229923248,
0.005805611610412598,
1
] | 2.4 | 4.4 | The robot arm is positioned above the red object, which lies beside the pot; it will descend, grasp the red object with its gripper, lift it, and move it directly over the pot before releasing it inside, leaving the gripper open and retracted above the pot while the red object rests within. | The red object remains beside the pot, unchanged in position relative to the pot and surrounding items; no progress toward insertion is evident. subtask: finish | 12 | 22 | 2 | 83 | 2 | put the red object into the pot | ||
[
0.3810169994831085,
0.08517017215490341,
0.03656504675745964,
0.05672810599207878,
0.07009007781744003,
0.2855724096298218,
0,
1.0001531839370728
] | [
0.0008287131786346436,
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-0.0016026049852371216,
-0.017932046204805374,
0.0030986815690994263,
0.00837680697441101,
1
] | 2.6 | 4.6 | The robot arm is positioned above the red object, which lies beside the pot. To complete the task, the arm must grasp the red object and lower it into the pot. In the future state, the red object will be inside the pot, the gripper will be open and raised slightly, and the pot will contain the object without spillage. | The red object remains beside the pot, unchanged in position, indicating no progress toward insertion. Since the goal is unmet and no motion is observed, the system must initiate movement. subtask: grasp | 13 | 23 | 2 | 84 | 2 | put the red object into the pot | ||
[
0.38184571266174316,
0.0823035016655922,
0.03496244177222252,
0.03879605978727341,
0.07318875938653946,
0.2939492166042328,
0,
1.0001531839370728
] | [
0.00026541948318481445,
0.0002927258610725403,
0.0007066689431667328,
0.001887202262878418,
-0.00038579851388931274,
0.005718708038330078,
1
] | 2.8 | 4.8 | The robot arm is positioned above the red object, which is near the pot. It will descend, grasp the red object with its gripper, lift it, and move it directly over the pot. The gripper will then open, releasing the object into the pot, completing the task with the arm retracting slightly afterward. | The red object remains beside the pot on the wooden surface, with no visible change in position or containment. Since the red object is not yet inside the pot, the next step is to grasp it. subtask: grasp | 14 | 24 | 2 | 85 | 2 | put the red object into the pot | ||
[
0.382111132144928,
0.08259622752666473,
0.03566911071538925,
0.040683262050151825,
0.07280296087265015,
0.29966792464256287,
0,
1.0001531839370728
] | [
0.0013722777366638184,
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-0.00048090144991874695,
-0.022858021780848503,
-0.002236872911453247,
0.006766855716705322,
1
] | 3 | 5 | The robot arm is positioned above the red object, preparing to grasp it. The gripper will close around the red object, lift it, and move it directly over the pot. The red object will then be released into the pot, with the arm retracting slightly afterward, leaving the pot containing the red object centered on the coun... | The red object is currently beside the pot on the wooden surface; to place it inside, the robotic gripper must first grasp it. The future frame shows the gripper positioned above the red object, indicating preparation for pickup.
subtask: grasp | 15 | 25 | 2 | 86 | 2 | put the red object into the pot | ||
[
0.3834834098815918,
0.07852187752723694,
0.035188209265470505,
0.017825240269303322,
0.0705660879611969,
0.3064347803592682,
0,
1.0001531839370728
] | [
-0.0009222924709320068,
-0.005095623433589935,
-0.0010630711913108826,
-0.010335597209632397,
0.007321260869503021,
-0.0018305480480194092,
1
] | 3.2 | 5.2 | The robot arm is positioned above the red object, preparing to grasp it; the gripper will close around the object, lift it, and move it toward the pot, releasing it inside, while the spatula and cloth remain undisturbed on the wooden surface. | The red object is currently beside the pot on the wooden surface; to place it inside the pot, the robot must first grasp it. The key physical change is the red object transitioning from beside to inside the pot.
subtask: grasp | 16 | 26 | 2 | 87 | 2 | put the red object into the pot | ||
[
0.3825611174106598,
0.073426254093647,
0.03412513807415962,
0.007489643059670925,
0.07788734883069992,
0.3046042323112488,
0,
1.0001531839370728
] | [
-0.0013244450092315674,
-0.008803606033325195,
-0.0032514985650777817,
-0.0027764439582824707,
0.01113852858543396,
-0.016688644886016846,
1
] | 3.4 | 5.4 | The robot arm is currently gripping the red object above the pot; it will lower the object into the pot’s interior, releasing it so the red object rests inside while the gripper opens and retracts upward, leaving the pot undisturbed on the wooden surface with the fork and cloth nearby. | The red object is currently beside the pot on the wooden surface; in the future frame, it is suspended above the pot by the robotic gripper, indicating it is being moved into position. subtask: lift | 17 | 27 | 2 | 88 | 2 | put the red object into the pot | ||
[
0.3812366724014282,
0.06462264806032181,
0.03087363950908184,
0.0047131991013884544,
0.08902587741613388,
0.28791558742523193,
0,
1.0001531839370728
] | [
-0.0011031925678253174,
-0.0008794739842414856,
-0.002047009766101837,
-0.003925527445971966,
0.0020106062293052673,
0.0016984641551971436,
1
] | 3.6 | 5.6 | The robotic arm is positioned above the red object, preparing to grasp it; once secured, it will lift and move the object directly over the pot, then release it into the pot’s interior, resulting in the red object resting inside the pot while the gripper opens and retracts upward. | The red object is currently beside the pot; to place it inside, the robotic arm must lower the red object into the pot’s opening. The future frame shows the red object no longer held by the gripper, indicating successful placement. subtask: place | 18 | 28 | 2 | 89 | 2 | put the red object into the pot | ||
[
0.3801334798336029,
0.06374317407608032,
0.028826629742980003,
0.0007876715972088277,
0.09103648364543915,
0.2896140515804291,
0,
1.0001531839370728
] | [
-0.0015290677547454834,
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-0.0027062203735113144,
0.0005554634262807667,
0.0030394643545150757,
-0.002934575080871582,
0
] | 3.8 | 5.8 | The robotic arm, currently holding the red object above the pot, will lower it steadily into the pot’s interior. The gripper will release the object, allowing it to settle inside the pot while the arm retracts slightly upward. The fork and yellow cloth remain undisturbed on the countertop as the scene stabilizes with t... | The red object is currently beside the pot; the gripper is positioned above it, ready to pick it up. To transition to the future state where the red object is inside the pot, the gripper must first grasp it. subtask: grasp | 19 | 29 | 2 | 90 | 2 | put the red object into the pot | ||
[
0.3786044120788574,
0.06169481575489044,
0.02612040936946869,
0.0013431350234895945,
0.09407594799995422,
0.2866794764995575,
0,
0.9492040276527405
] | [
-0.0003803670406341553,
-0.0007486864924430847,
-0.0024659186601638794,
0.013382716104388237,
-0.006229504942893982,
-0.01030641794204712,
0
] | 4 | 6 | The robot arm, currently holding the red object above the pot, will lower it directly into the pot’s center. The gripper will release the object, causing it to settle inside the pot while the arm retracts slightly upward. The pot remains stationary on the wooden surface, and the red utensil beside it stays untouched as... | The red object is currently beside the pot on the wooden surface; in the future frame, it is positioned directly above the pot, indicating preparation for placement. The robotic arm has moved to align the red object over the pot’s opening. subtask: move_to | 20 | 30 | 2 | 91 | 2 | put the red object into the pot | ||
[
0.37822404503822327,
0.06094612926244736,
0.02365449070930481,
0.014725850895047188,
0.08784644305706024,
0.2763730585575104,
0,
0.6551066637039185
] | [
-0.0009172558784484863,
-0.00110635906457901,
-0.00032631494104862213,
0.021279728040099144,
0.0001193508505821228,
0.0026558637619018555,
0
] | 4.2 | 6.2 | The robot arm is positioned above the red object, preparing to grasp it. It will lower its gripper to securely pick up the red object, then lift and move it directly over the pot. The gripper will open, releasing the red object into the pot, completing the task with the object now resting inside the pot. | The red object is currently held by the gripper above the pot; to complete the task, it must be lowered into the pot. The key change is the red object transitioning from being suspended to being inside the pot. subtask: place | 21 | 31 | 2 | 92 | 2 | put the red object into the pot | ||
[
0.3773067891597748,
0.05983977019786835,
0.023328175768256187,
0.03600557893514633,
0.08796579390764236,
0.27902892231941223,
0,
0.5462315082550049
] | [
-0.002636730670928955,
-0.0010842755436897278,
0.0007331203669309616,
-0.004746869206428528,
-0.000823482871055603,
-0.0030265450477600098,
0
] | 4.4 | 6.4 | The robot arm is positioned above the red object, gripping it firmly; it will lower the object directly into the pot below, releasing it once centered within the pot’s opening, while the gripper opens and retracts slightly, leaving the red object resting inside the pot. | The red object is positioned beside the pot on the wooden surface; the robotic gripper is now holding it above the pot, indicating it has been lifted. To complete the placement, the object must be lowered into the pot. subtask: place | 22 | 32 | 2 | 93 | 2 | put the red object into the pot | ||
[
0.3746700584888458,
0.05875549465417862,
0.02406129613518715,
0.031258709728717804,
0.08714231103658676,
0.2760023772716522,
0,
0.5452468395233154
] | [
-0.009791791439056396,
0.008949913084506989,
0.017604663968086243,
-0.0245603546500206,
-0.012262612581253052,
0.016330182552337646,
0
] | 4.6 | 6.6 | The robot arm, currently holding the red object above the pot, will lower it directly into the pot’s center. The gripper will open to release the object, which will settle inside the pot. The arm will then retract slightly upward, leaving the red object fully contained within the pot while the fork and cloth remain und... | The red object is positioned beside the pot on the wooden surface; the robotic gripper is moving toward it. To transition to the future state where the red object is inside the pot, the gripper must first grasp it. subtask: grasp | 23 | 33 | 2 | 94 | 2 | put the red object into the pot | ||
[
0.36487826704978943,
0.06770540773868561,
0.04166596010327339,
0.006698355078697205,
0.07487969845533371,
0.29233255982398987,
0,
0.5393473505973816
] | [
-0.013472527265548706,
0.006333492696285248,
0.05237813666462898,
-0.06350598484277725,
-0.09950263053178787,
0.03092014789581299,
0
] | 4.8 | 6.8 | The robot arm, currently gripping the red object above the pot, will lower it directly into the pot’s interior. The gripper will then open to release the object, leaving it resting inside the pot. The arm will slightly retract upward, maintaining its position over the pot while the red object remains stationary within ... | The red object is currently beside the pot; the future frame shows it inside the pot. To achieve this, the robotic arm must lower the red object into the pot. subtask: place | 24 | 34 | 2 | 95 | 2 | put the red object into the pot | ||
[
0.3514057397842407,
0.07403890043497086,
0.09404409676790237,
-0.05680762976408005,
-0.024622930213809013,
0.32325270771980286,
0,
0.5354229807853699
] | [
-0.03273347020149231,
-0.011118873953819275,
0.04530712217092514,
-0.022436514496803284,
-0.06978333741426468,
-0.049636393785476685,
0
] | 5 | 7 | The robot arm, currently holding the red object above the pot, will lower it directly into the pot’s center. The gripper will open slightly to release the object, which will settle inside the pot. The arm will then retract upward, leaving the red object fully contained within the pot, with the fork and sponge remaining... | The red object is currently beside the pot; the future frame shows it being lowered into the pot. The robotic gripper must move the red object downward into the pot’s interior. subtask: place | 25 | 35 | 2 | 96 | 2 | put the red object into the pot | ||
[
0.3186722695827484,
0.06292002648115158,
0.13935121893882751,
-0.07924414426088333,
-0.09440626949071884,
0.27361631393432617,
0,
0.5354229807853699
] | [
-0.03899219632148743,
-0.02818116545677185,
0.008498668670654297,
-0.005021087825298309,
0.014763295650482178,
-0.0882575511932373,
0
] | 5.2 | 7.2 | The robot arm, currently holding the red object above the pot, will lower it directly into the pot’s center. The gripper will release the object, causing it to rest inside the pot while the arm retracts slightly upward. The red spatula and yellow cloth remain undisturbed on the countertop as the pot now contains the re... | The red object is currently beside the pot on the wooden surface; in the future frame, it is inside the pot. The robotic arm has moved to position the red object above and then into the pot. subtask: place | 26 | 36 | 2 | 97 | 2 | put the red object into the pot | ||
[
0.279680073261261,
0.03473886102437973,
0.1478498876094818,
-0.08426523208618164,
-0.07964297384023666,
0.18535876274108887,
0,
0.5344430208206177
] | [
-0.02356410026550293,
-0.02374877594411373,
-0.006844133138656616,
0.0471191443502903,
0.019443679600954056,
-0.08288011699914932,
0
] | 5.4 | 7.4 | The robotic arm holds the red object above the pot, poised to release it. As the gripper opens, the red object will drop into the pot, settling inside while the arm retracts slightly upward. The pot remains stationary on the wooden surface, and the surrounding tools stay undisturbed, completing the task visually. | The red object is currently held by the gripper above the pot; to complete the task, it must be lowered into the pot. The key physical change is the red object transitioning from being suspended to resting inside the pot. subtask: place | 27 | 37 | 2 | 98 | 2 | put the red object into the pot | ||
[
0.25611597299575806,
0.010990085080265999,
0.1410057544708252,
-0.03714608773589134,
-0.06019929423928261,
0.10247864574193954,
0,
0.529549777507782
] | [
-0.010563507676124573,
-0.0074574630707502365,
-0.019237764179706573,
0.054354213178157806,
0.02197256311774254,
-0.02920643985271454,
0
] | 5.6 | 7.6 | The robot arm holds the red object above the pot; it will lower the gripper to release the object into the pot, causing the red item to settle inside while the gripper opens and retracts slightly, leaving the pot with the red object now contained within and the surrounding tools undisturbed. | The red object is currently held above the pot; to complete the task, it must be lowered into the pot. The key physical change is the red object transitioning from being suspended to resting inside the pot. subtask: place | 28 | 38 | 2 | 99 | 2 | put the red object into the pot |
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