Shimanto99/exp_5000 · Datasets at Hugging Face

id stringlengths 22 148	question stringclasses 525 values	choices stringlengths 25 572	correct_answer int64 0 4	task_name stringclasses 398 values	capability stringclasses 9 values
droid_flip_the_switch_on_the_stove_7874_q7	In the image from ext2, which colored point is FARTHEST from the camera?	['Purple', 'Red', 'Blue', 'Yellow', 'Green']	0	flip_the_switch_on_the_stove	Scene Understanding
droid_fold_the_towel_on_the_table_8801_q16	In the image from ext1, which colored point is FARTHEST from the camera?	['Green', 'Red', 'Purple', 'Yellow', 'Blue']	4	fold_the_towel_on_the_table	Scene Understanding
droid_close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening_15689_q59	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['D', 'A', 'C', 'E', 'B']	3	close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening	Multiple View
droid_arrange_the_black_objects_together_on_the_table_10745_q81	In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?	['A', 'B', 'E', 'C', 'D']	0	arrange_the_black_objects_together_on_the_table	Multiple View
droid_hang_the_jersey_on_the_back_of_the_chair_15378_q30	In the image from ext1, which colored point is CLOSEST to the camera?	['Green', 'Purple', 'Blue', 'Yellow', 'None of the above']	4	hang_the_jersey_on_the_back_of_the_chair	Scene Understanding
droid_hang_the_cloth_on_the_tablet_stand_6498_q11	In the image from ext1, which colored point is CLOSEST to the camera?	['Purple', 'Green', 'Red', 'Yellow', 'Blue']	3	hang_the_cloth_on_the_tablet_stand	Scene Understanding
droid_close_the_bottom_drawer_of_the_right_cabinet_7587_q24	The robot's task is to close the bottom drawer of the right cabinet. Which configuration shows the goal state that the robot should achieve?	['Configuration E', 'Configuration D', 'Configuration B', 'Configuration A', 'Configuration C']	3	close_the_bottom_drawer_of_the_right_cabinet	Task State - Goal
droid_fold_the_cloth_2361_q34	In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?	['E', 'D', 'B', 'C', 'A']	4	fold_the_cloth	Multiple View
droid_close_the_box_completely_10429_q3	The robot is to close the box completely. Has the robot successfully completed the task?	['Task was not attempted', 'Cannot be determined', 'Yes', 'No']	2	close_the_box_completely	Task State - Success
droid_flip_the_light_switch_2175_q3	The robot is to flip the light switch. Has the robot successfully completed the task?	['Task was not attempted', 'No', 'Cannot be determined', 'Yes']	1	flip_the_light_switch	Task State - Success
droid_close_the_top_right_drawer_8325_q17	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['B', 'A', 'C', 'E', 'D']	0	close_the_top_right_drawer	Multiple View
droid_close_the_doors_of_the_middle_shelf_7346_q20	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['D', 'B', 'C', 'E', 'A']	0	close_the_doors_of_the_middle_shelf	Multiple View
droid_fold_the_towel_once_on_the_table_200_q68	In the image from ext2, which colored point is FARTHEST from the camera?	['Green', 'Yellow', 'Blue', 'Purple', 'Red']	2	fold_the_towel_once_on_the_table	Scene Understanding
droid_close_the_clear_container_15733_q1	Which language instruction best describes the robot's trajectory shown in the image?	['Drop the plate into the bin', 'close the clear container', 'Pick up the toy from the drawer', 'Grab the plate with the gripper', 'Align the ball with the tray']	1	close_the_clear_container	Trajectory Understanding
droid_click_on_the_mouse_4121_q16	In the image from ext2, which colored point is FARTHEST from the camera?	['Purple', 'Green', 'Blue', 'Red', 'Yellow']	0	click_on_the_mouse	Scene Understanding
droid_bring_the_bowl_closer_to_the_fork__then_place_the_fork_in_the_bowl__and_finally_take_the_fork_out_of_the_bowl_13195_q71	In the image from ext1, which colored point is CLOSEST to the camera?	['Red', 'Green', 'Purple', 'Blue', 'Yellow']	3	bring_the_bowl_closer_to_the_fork__then_place_the_fork_in_the_bowl__and_finally_take_the_fork_out_of_the_bowl	Scene Understanding
droid_close_the_bottom_drawer_on_the_left_3365_q25	In the image from ext2, which colored point is FARTHEST from the camera?	['Yellow', 'Blue', 'Red', 'Purple', 'Green']	4	close_the_bottom_drawer_on_the_left	Scene Understanding
droid_close_the_lid_on_the_bin_13399_q4	In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?	['D', 'E', 'B', 'A', 'C']	4	close_the_lid_on_the_bin	Multiple View
droid_close_the_coffee_marker_4771_q6	The robot is to close the coffee marker. Has the robot successfully completed the task?	['Cannot be determined', 'Yes', 'No', 'Task was not attempted']	1	close_the_coffee_marker	Task State - Success
viola_make_coffee_65_q20	Is the robot's grasp of the coffee stable?	['Yes', 'Partially stable', 'No', 'Cannot be determined']	2	make_coffee	Task State - Grasp
droid_lean_the_metal_object_on_the_right_against_the_wall_1784_q10	The robot's task is to lean the metal object on the right against the wall. Which configuration shows the goal state that the robot should achieve?	['Configuration A', 'Configuration E', 'Configuration B', 'Configuration D', 'Configuration C']	0	lean_the_metal_object_on_the_right_against_the_wall	Task State - Goal
droid_bring_the_clear_bottle_closer_to_the_wall_1476_q4	The robot's task is to bring the clear bottle closer to the wall. Which configuration shows the goal state that the robot should achieve?	['Configuration E', 'Configuration A', 'Configuration B', 'Configuration C', 'Configuration D']	1	bring_the_clear_bottle_closer_to_the_wall	Task State - Goal
viola_arrange_plate_and_fork_37_q17	Is there any obstacle blocking the robot from reaching plate?	['No', 'Partially reachable', 'Yes', 'Cannot be determined']	0	arrange_plate_and_fork	Object State (Reachability)
viola_make_coffee_22_q13	The robot is tasked to closing gripper to grasp the coffee with the coffee. After Closing gripper to grasp the coffee, what will be the robot's NEXT action phase?	['Approaching the coffee with open gripper', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee', 'Closing gripper to grasp the coffee', 'None of the above']	4	make_coffee	Interaction Phase
droid_close_the_kettle_lid_3831_q19	In the image from ext2, which colored point is CLOSEST to the camera?	['Blue', 'Green', 'Purple', 'Yellow', 'Red']	3	close_the_kettle_lid	Scene Understanding
droid_fold_the_towel_once_on_the_table_200_q8	The robot is to fold the towel once on the table. Has the robot successfully completed the task?	['Task was not attempted', 'Cannot be determined', 'Yes', 'No']	3	fold_the_towel_once_on_the_table	Task State - Success
droid_fold_the_towel_on_the_table_4585_q12	In the image from ext2, which colored point is FARTHEST from the camera?	['Purple', 'Blue', 'Red', 'Green', 'Yellow']	1	fold_the_towel_on_the_table	Scene Understanding
droid_make_the_plastic_cup_stand_upright_15083_q35	The robot's task is to make the plastic cup stand upright. Which configuration shows the goal state that the robot should achieve?	['Configuration B', 'Configuration E', 'Configuration D', 'Configuration A', 'Configuration C']	3	make_the_plastic_cup_stand_upright	Task State - Goal
viola_make_coffee_87_q29	The robot is to make coffee. Has the robot successfully completed the task?	['No', 'Task was not attempted', 'Cannot be determined', 'Yes']	0	make_coffee	Task State - Success
viola_arrange_plate_and_fork_28_q53	The robot is tasked to closing gripper to grasp the plate with the plate. After Closing gripper to grasp the plate, what will be the robot's NEXT action phase?	['Moving away with open gripper after releasing the plate', 'Releasing the plate by opening gripper', 'Firmly grasping the plate', 'Approaching the plate with open gripper', 'Closing gripper to grasp the plate']	2	arrange_plate_and_fork	Interaction Phase
droid_close_the_left_cabinet_door_8931_q30	In the image from ext1, which colored point is CLOSEST to the camera?	['Yellow', 'Green', 'Purple', 'Blue', 'Red']	3	close_the_left_cabinet_door	Scene Understanding
droid_hang_the_white_cloth_on_the_black_object_5996_q15	In the image from ext1, which colored point is CLOSEST to the camera?	['Green', 'Blue', 'Red', 'Purple', 'Yellow']	3	hang_the_white_cloth_on_the_black_object	Scene Understanding
droid_close_the_brown_box_3452_q17	The robot's task is to close the brown box. Which configuration shows the goal state that the robot should achieve?	['Configuration A', 'Configuration D', 'Configuration C', 'Configuration E', 'Configuration B']	0	close_the_brown_box	Task State - Goal
droid_close_the_open_cabinet_doors_13942_q13	The robot is to close the open cabinet doors. Has the robot successfully completed the task?	['Yes', 'Task was not attempted', 'No', 'Cannot be determined']	2	close_the_open_cabinet_doors	Task State - Success
viola_make_coffee_81_q57	Is there any obstacle blocking the robot from reaching coffee?	['Yes', 'No', 'Cannot be determined', 'Partially reachable']	1	make_coffee	Object State (Reachability)
droid_close_the_top_drawer_2828_q5	In the image from ext1, which colored point is FARTHEST from the camera?	['Green', 'Blue', 'Yellow', 'Red', 'Purple']	4	close_the_top_drawer	Scene Understanding
viola_arrange_plate_and_fork_18_q4	The robot's task is to arrange plate and fork. Which configuration shows the goal state that the robot should achieve?	['Configuration D', 'Configuration B', 'Configuration A', 'Configuration C', 'Configuration E']	2	arrange_plate_and_fork	Task State - Goal
viola_arrange_plate_and_fork_108_q20	Is the robot's grasp of the plate stable?	['No', 'Cannot be determined', 'Yes', 'Partially stable']	0	arrange_plate_and_fork	Task State - Grasp
droid_fold_the_shirt_3934_q16	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['A', 'B', 'E', 'D', 'C']	4	fold_the_shirt	Multiple View
droid_fold_the_towel_then_unfold_it_13523_q38	In the image from ext1, which colored point is CLOSEST to the camera?	['Purple', 'Yellow', 'Red', 'Green', 'Blue']	1	fold_the_towel_then_unfold_it	Scene Understanding
viola_pick_up_the_bowl_from_the_lazy_susan_and_put_bowl_on_the_plate_119_q52	The robot is tasked to pick up the bowl from the lazy susan and put bowl on the plate. The robot is interacting with the bowl. Which phase of the grasp action is shown in the image?	['Closing gripper to grasp the bowl', 'Approaching the bowl with open gripper', 'Releasing the bowl by opening gripper', 'Firmly grasping the bowl', 'Moving away with open gripper after releasing the bowl']	2	pick_up_the_bowl_from_the_lazy_susan_and_put_bowl_on_the_plate	Interaction Phase
droid_close_the_open_drawer_8692_q24	The robot's task is to close the open drawer. Which configuration shows the goal state that the robot should achieve?	['Configuration D', 'Configuration B', 'Configuration E', 'Configuration A', 'Configuration C']	3	close_the_open_drawer	Task State - Goal
droid_fold_the_towel_from_top_to_bottom_1226_q1	Which language instruction best describes the robot's trajectory shown in the image?	['Drop the box into the table', 'Slide the pen to the right', 'Drop the box into the drawer', 'fold the towel from top to bottom', 'Move the container to the platform']	3	fold_the_towel_from_top_to_bottom	Trajectory Understanding
droid_fold_the_towel_on_the_table_9017_q56	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['C', 'B', 'D', 'E', 'A']	3	fold_the_towel_on_the_table	Multiple View
droid_fold_the_towel_once_1971_q27	The robot's task is to fold the towel once. Which configuration shows the goal state that the robot should achieve?	['None of the above', 'Configuration B', 'Configuration D', 'Configuration E', 'Configuration C']	0	fold_the_towel_once	Task State - Goal
droid_fold_the_cloth_on_the_table_5306_q26	The robot's task is to fold the cloth on the table. Which configuration shows the goal state that the robot should achieve?	['Configuration E', 'Configuration C', 'Configuration B', 'Configuration D', 'Configuration A']	4	fold_the_cloth_on_the_table	Task State - Goal
droid_arrange_some_of_the_tiles_neatly_to_the_left_775_q11	In the image from ext1, which colored point is CLOSEST to the camera?	['Yellow', 'Blue', 'Red', 'Green', 'Purple']	1	arrange_some_of_the_tiles_neatly_to_the_left	Scene Understanding
droid_close_the_open_cabinet_door_6652_q29	In the image from ext1, which colored point is FARTHEST from the camera?	['Green', 'Purple', 'Blue', 'Red', 'Yellow']	1	close_the_open_cabinet_door	Scene Understanding
droid_close_the_door_shut_4180_q1	Which language instruction best describes the robot's trajectory shown in the image?	['Align the door with the surface', 'Push the shut towards the shelf', 'close the door shut', 'Rotate the door clockwise', 'Lift the door upward']	2	close_the_door_shut	Trajectory Understanding
viola_make_coffee_35_q16	Is there any obstacle blocking the robot from reaching coffee?	['Yes', 'Partially reachable', 'No', 'Cannot be determined']	2	make_coffee	Object State (Reachability)
droid_attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color_13876_q72	The robot's task is to attach the discs on the table to the wooden rack making sure to sort them by color. Which configuration shows the goal state that the robot should achieve?	['None of the above', 'Configuration E', 'Configuration D', 'Configuration B', 'Configuration C']	0	attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color	Task State - Goal
droid_hang_the_black_shirt_on_the_backrest_of_the_grey_chair_3748_q2	Which language instruction best describes the robot's trajectory shown in the image?	['Rotate the black shirt clockwise', 'Place the black shirt on the backrest', 'hang the black shirt on the backrest of the grey chair', 'Drop the backrest into the backrest', 'Drop the grey chair into the backrest']	2	hang_the_black_shirt_on_the_backrest_of_the_grey_chair	Trajectory Understanding
viola_make_coffee_24_q58	The robot's task is to make coffee. Which configuration shows the goal state that the robot should achieve?	['Configuration B', 'Configuration A', 'Configuration E', 'Configuration C', 'Configuration D']	1	make_coffee	Task State - Goal
droid_close_the_lid_of_the_flask_4097_q20	The robot is to close the lid of the flask. Has the robot successfully completed the task?	['Yes', 'No', 'Cannot be determined', 'Task was not attempted']	0	close_the_lid_of_the_flask	Task State - Success
droid_attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color_13876_q130	In the image from ext2, which colored point is CLOSEST to the camera?	['Blue', 'Red', 'Green', 'Yellow', 'Purple']	2	attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color	Scene Understanding
droid_close_the_drawer_7838_q5	In the image from ext1, which colored point is CLOSEST to the camera?	['Yellow', 'Purple', 'Blue', 'Green', 'Red']	1	close_the_drawer	Scene Understanding
droid_close_the_upper_drawer_11307_q3	The robot is to close the upper drawer. Has the robot successfully completed the task?	['Yes', 'No', 'Cannot be determined', 'Task was not attempted']	1	close_the_upper_drawer	Task State - Success
viola_make_coffee_40_q7	Is the robot's grasp of the coffee stable?	['Yes', 'Partially stable', 'Cannot be determined', 'No']	3	make_coffee	Task State - Grasp
droid_close_the_open_cabinet_door_6652_q38	In the image from ext2, which colored point is CLOSEST to the camera?	['Yellow', 'Red', 'Blue', 'Purple', 'Green']	4	close_the_open_cabinet_door	Scene Understanding
droid_fold_the_pink_towel_in_half_12694_q11	In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?	['A', 'B', 'E', 'D', 'C']	0	fold_the_pink_towel_in_half	Multiple View
droid_close_the_drawer_12903_q34	In the image from ext2, which colored point is CLOSEST to the camera?	['Yellow', 'Green', 'Purple', 'Red', 'Blue']	2	close_the_drawer	Scene Understanding
viola_arrange_plate_and_fork_70_q38	The robot is tasked to arrange plate and fork. The robot is interacting with the plate. Which phase of the grasp action is shown in the image?	['Approaching the plate with open gripper', 'Moving away with open gripper after releasing the plate', 'Releasing the plate by opening gripper', 'Firmly grasping the plate', 'Closing gripper to grasp the plate']	3	arrange_plate_and_fork	Interaction Phase
viola_make_coffee_133_q17	Is there any obstacle blocking the robot from reaching coffee?	['Yes', 'Cannot be determined', 'No', 'Partially reachable']	2	make_coffee	Object State (Reachability)
droid_cover_the_colourless_bowl_with_the_white_lid_4615_q20	In the image from ext2, which colored point is CLOSEST to the camera?	['Yellow', 'Red', 'Blue', 'Purple', 'Green']	0	cover_the_colourless_bowl_with_the_white_lid	Scene Understanding
viola_make_coffee_26_q39	The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image?	['Closing gripper to grasp the coffee', 'Approaching the coffee with open gripper', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee', 'Firmly grasping the coffee']	4	make_coffee	Interaction Phase
viola_arrange_plate_and_fork_2_q16	Is the robot's gripper open?	['No', 'Partially open', 'Yes', 'Cannot be determined']	2	arrange_plate_and_fork	Robot State
droid_hang_the_white_and_blue_towel_on_the_stand__remove_the_towel_from_the_stand__hang_the_towel_back_on_the_stand_4429_q46	In the image from ext1, which colored point is FARTHEST from the camera?	['Green', 'Yellow', 'Blue', 'Purple', 'Red']	0	hang_the_white_and_blue_towel_on_the_stand__remove_the_towel_from_the_stand__hang_the_towel_back_on_the_stand	Scene Understanding
droid_empty_the_contents_in_the_cup_into_the_bowl_9525_q10	In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?	['C', 'D', 'B', 'A', 'E']	1	empty_the_contents_in_the_cup_into_the_bowl	Multiple View
droid_fold_the_green_towel_13938_q8	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['B', 'E', 'A', 'D', 'C']	4	fold_the_green_towel	Multiple View
droid_fold_the_towel_on_the_table_4585_q73	In the image from ext2, which colored point is CLOSEST to the camera?	['Yellow', 'Green', 'Red', 'Blue', 'Purple']	2	fold_the_towel_on_the_table	Scene Understanding
droid_close_the_oven_door_10385_q4	In the image from ext1, which colored point is CLOSEST to the camera?	['Blue', 'Yellow', 'Green', 'Purple', 'Red']	3	close_the_oven_door	Scene Understanding
droid_cover_the_pot_3645_q26	In the image from ext2, which colored point is CLOSEST to the camera?	['Red', 'Purple', 'Yellow', 'Green', 'Blue']	4	cover_the_pot	Scene Understanding
viola_make_coffee_26_q32	The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image?	['Releasing the coffee by opening gripper', 'Approaching the coffee with open gripper', 'Closing gripper to grasp the coffee', 'Firmly grasping the coffee', 'Moving away with open gripper after releasing the coffee']	2	make_coffee	Interaction Phase
droid_close_the_top_compartment_of_the_dresser_14867_q1	Which language instruction best describes the robot's trajectory shown in the image?	['Grab the cup with the gripper', 'None of the above', 'Grab the toy with the gripper', 'Align the box with the none', 'Push the block towards the none']	1	close_the_top_compartment_of_the_dresser	Trajectory Understanding
droid_close_the_slider_on_the_top_of_the_cup_14559_q21	The robot's task is to close the slider on the top of the cup. Which configuration shows the goal state that the robot should achieve?	['Configuration B', 'Configuration D', 'Configuration E', 'Configuration C', 'None of the above']	4	close_the_slider_on_the_top_of_the_cup	Task State - Goal
viola_arrange_plate_and_fork_89_q7	The robot is to arrange plate and fork. Has the robot successfully completed the task?	['Task was not attempted', 'No', 'Yes', 'Cannot be determined']	1	arrange_plate_and_fork	Task State - Success
droid_fold_the_towel_5436_q28	The robot is to fold the towel. Has the robot successfully completed the task?	['Yes', 'Task was not attempted', 'No', 'Cannot be determined']	2	fold_the_towel	Task State - Success
droid_fold_the_white_towel_14706_q20	In the image from ext1, which colored point is CLOSEST to the camera?	['Purple', 'Yellow', 'Blue', 'Red', 'Green']	1	fold_the_white_towel	Scene Understanding
droid_cover_the_black_pot_with_the_lid_on_the_table_2482_q6	The robot's task is to cover the black pot with the lid on the table. Which configuration shows the goal state that the robot should achieve?	['Configuration B', 'Configuration E', 'Configuration C', 'Configuration A', 'Configuration D']	3	cover_the_black_pot_with_the_lid_on_the_table	Task State - Goal
droid_attach_the_discs_on_the_table_to_the_wooden_rack_3994_q14	In the image from ext2, which colored point is CLOSEST to the camera?	['Yellow', 'Purple', 'Green', 'Red', 'Blue']	2	attach_the_discs_on_the_table_to_the_wooden_rack	Scene Understanding
viola_make_coffee_131_q30	Is there any obstacle blocking the robot from reaching coffee?	['Partially reachable', 'No', 'Yes', 'Cannot be determined']	1	make_coffee	Object State (Reachability)
droid_get_the_green_marker_from_the_yellow_cup_and_place_it_on_the_table_7662_q4	In the image from ext1, which colored point is FARTHEST from the camera?	['Purple', 'Red', 'Green', 'Yellow', 'Blue']	3	get_the_green_marker_from_the_yellow_cup_and_place_it_on_the_table	Scene Understanding
droid_close_the_open_drawer_on_the_right_filing_cabinet_15282_q11	In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?	['E', 'C', 'D', 'B', 'A']	1	close_the_open_drawer_on_the_right_filing_cabinet	Multiple View
viola_make_coffee_85_q31	The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image?	['Moving away with open gripper after releasing the coffee', 'Approaching the coffee with open gripper', 'Releasing the coffee by opening gripper', 'Firmly grasping the coffee', 'Closing gripper to grasp the coffee']	4	make_coffee	Interaction Phase
viola_make_coffee_130_q52	The robot is tasked to releasing the coffee by opening gripper with the coffee. After Releasing the coffee by opening gripper, what will be the robot's NEXT action phase?	['Approaching the coffee with open gripper', 'Firmly grasping the coffee', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee', 'Closing gripper to grasp the coffee']	3	make_coffee	Interaction Phase
droid_draw_the_curtain_closed_15342_q25	The robot is to draw the curtain closed. Has the robot successfully completed the task?	['Cannot be determined', 'No', 'Task was not attempted', 'Yes']	1	draw_the_curtain_closed	Task State - Success
droid_close_the_coffeemaker_3508_q7	The robot's task is to close the coffeemaker. Which configuration shows the goal state that the robot should achieve?	['Configuration A', 'Configuration D', 'Configuration B', 'Configuration C', 'Configuration E']	0	close_the_coffeemaker	Task State - Goal
droid_hang_the_tongs_on_the_rack_9780_q3	The robot is to hang the tongs on the rack. Has the robot successfully completed the task?	['Yes', 'Task was not attempted', 'Cannot be determined', 'No']	3	hang_the_tongs_on_the_rack	Task State - Success
droid_mix_the_contents_of_the_bowl_with_the_spatula_9999_q35	In the image from ext2, which colored point is FARTHEST from the camera?	['Purple', 'Red', 'Yellow', 'Green', 'Blue']	2	mix_the_contents_of_the_bowl_with_the_spatula	Scene Understanding
droid_hang_the_white_towel_on_the_black_bar_6249_q21	In the image from ext1, which colored point is FARTHEST from the camera?	['Red', 'Green', 'Purple', 'Yellow', 'Blue']	1	hang_the_white_towel_on_the_black_bar	Scene Understanding
viola_make_coffee_111_q49	Is the robot's gripper open?	['Partially open', 'Yes', 'Cannot be determined', 'No']	1	make_coffee	Robot State
viola_arrange_plate_and_fork_32_q6	The robot is tasked to approaching the plate with open gripper with the plate. After Approaching the plate with open gripper, what will be the robot's NEXT action phase?	['Closing gripper to grasp the plate', 'Releasing the plate by opening gripper', 'Firmly grasping the plate', 'Approaching the plate with open gripper', 'Moving away with open gripper after releasing the plate']	0	arrange_plate_and_fork	Robot State
droid_close_the_microwave_door_14389_q3	The robot is to close the microwave door. Has the robot successfully completed the task?	['Task was not attempted', 'Yes', 'Cannot be determined', 'No']	1	close_the_microwave_door	Task State - Success
droid_fold_the_light_blue_sheet_11337_q219	In the image from ext1, which colored point is FARTHEST from the camera?	['Blue', 'Yellow', 'Green', 'Purple', 'Red']	3	fold_the_light_blue_sheet	Scene Understanding
droid_cover_the_silver_pot_with_the_silver_lid_6264_q32	The robot is to cover the silver pot with the silver lid. Has the robot successfully completed the task?	['Yes', 'Task was not attempted', 'No', 'Cannot be determined']	2	cover_the_silver_pot_with_the_silver_lid	Task State - Success
droid_join_the_four_pieces_of_the_black_objects_together_8537_q82	In the image from ext2, which colored point is FARTHEST from the camera?	['Green', 'Red', 'Yellow', 'Blue', 'Purple']	4	join_the_four_pieces_of_the_black_objects_together	Scene Understanding
droid_close_the_top_drawer_of_the_file_cabinet_9097_q2	Which language instruction best describes the robot's trajectory shown in the image?	['Move the file cabinet to the there is no location reference.', 'Push the file cabinet towards the there is no location reference.', 'Move the file cabinet to the none', 'Rotate the drawer clockwise', 'close the top drawer of the file cabinet']	4	close_the_top_drawer_of_the_file_cabinet	Trajectory Understanding
viola_make_coffee_21_q13	The robot is to make coffee. Has the robot successfully completed the task?	['Cannot be determined', 'No', 'Task was not attempted', 'Yes']	1	make_coffee	Task State - Success
droid_close_the_grey_coffeemaker_s_chamber_7334_q23	The robot is to close the grey coffeemaker's chamber. Has the robot successfully completed the task?	['Cannot be determined', 'Yes', 'Task was not attempted', 'No']	3	close_the_grey_coffeemaker_s_chamber	Task State - Success
droid_close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening_15689_q4	The robot's task is to close the shape sorter, pick up an orange cube from the brown box and put it inside the shape sorter using the square shaped opening. Which configuration shows the goal state that the robot should achieve?	['Configuration E', 'Configuration B', 'Configuration A', 'Configuration D', 'Configuration C']	2	close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening	Task State - Goal

droid_flip_the_switch_on_the_stove_7874_q7

In the image from ext2, which colored point is FARTHEST from the camera?

['Purple', 'Red', 'Blue', 'Yellow', 'Green']

0

flip_the_switch_on_the_stove

Scene Understanding

droid_fold_the_towel_on_the_table_8801_q16

In the image from ext1, which colored point is FARTHEST from the camera?

['Green', 'Red', 'Purple', 'Yellow', 'Blue']

4

fold_the_towel_on_the_table

Scene Understanding

droid_close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening_15689_q59

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['D', 'A', 'C', 'E', 'B']

3

close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening

Multiple View

droid_arrange_the_black_objects_together_on_the_table_10745_q81

In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?

['A', 'B', 'E', 'C', 'D']

0

arrange_the_black_objects_together_on_the_table

Multiple View

droid_hang_the_jersey_on_the_back_of_the_chair_15378_q30

In the image from ext1, which colored point is CLOSEST to the camera?

['Green', 'Purple', 'Blue', 'Yellow', 'None of the above']

4

hang_the_jersey_on_the_back_of_the_chair

Scene Understanding

droid_hang_the_cloth_on_the_tablet_stand_6498_q11

In the image from ext1, which colored point is CLOSEST to the camera?

['Purple', 'Green', 'Red', 'Yellow', 'Blue']

3

hang_the_cloth_on_the_tablet_stand

Scene Understanding

droid_close_the_bottom_drawer_of_the_right_cabinet_7587_q24

The robot's task is to close the bottom drawer of the right cabinet. Which configuration shows the goal state that the robot should achieve?

['Configuration E', 'Configuration D', 'Configuration B', 'Configuration A', 'Configuration C']

3

close_the_bottom_drawer_of_the_right_cabinet

Task State - Goal

droid_fold_the_cloth_2361_q34

In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?

['E', 'D', 'B', 'C', 'A']

4

fold_the_cloth

Multiple View

droid_close_the_box_completely_10429_q3

The robot is to close the box completely. Has the robot successfully completed the task?

['Task was not attempted', 'Cannot be determined', 'Yes', 'No']

2

close_the_box_completely

Task State - Success

droid_flip_the_light_switch_2175_q3

The robot is to flip the light switch. Has the robot successfully completed the task?

['Task was not attempted', 'No', 'Cannot be determined', 'Yes']

1

flip_the_light_switch

Task State - Success

droid_close_the_top_right_drawer_8325_q17

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['B', 'A', 'C', 'E', 'D']

0

close_the_top_right_drawer

Multiple View

droid_close_the_doors_of_the_middle_shelf_7346_q20

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['D', 'B', 'C', 'E', 'A']

0

close_the_doors_of_the_middle_shelf

Multiple View

droid_fold_the_towel_once_on_the_table_200_q68

In the image from ext2, which colored point is FARTHEST from the camera?

['Green', 'Yellow', 'Blue', 'Purple', 'Red']

2

fold_the_towel_once_on_the_table

Scene Understanding

droid_close_the_clear_container_15733_q1

Which language instruction best describes the robot's trajectory shown in the image?

['Drop the plate into the bin', 'close the clear container', 'Pick up the toy from the drawer', 'Grab the plate with the gripper', 'Align the ball with the tray']

1

close_the_clear_container

Trajectory Understanding

droid_click_on_the_mouse_4121_q16

In the image from ext2, which colored point is FARTHEST from the camera?

['Purple', 'Green', 'Blue', 'Red', 'Yellow']

0

click_on_the_mouse

Scene Understanding

droid_bring_the_bowl_closer_to_the_fork__then_place_the_fork_in_the_bowl__and_finally_take_the_fork_out_of_the_bowl_13195_q71

In the image from ext1, which colored point is CLOSEST to the camera?

['Red', 'Green', 'Purple', 'Blue', 'Yellow']

3

bring_the_bowl_closer_to_the_fork__then_place_the_fork_in_the_bowl__and_finally_take_the_fork_out_of_the_bowl

Scene Understanding

droid_close_the_bottom_drawer_on_the_left_3365_q25

In the image from ext2, which colored point is FARTHEST from the camera?

['Yellow', 'Blue', 'Red', 'Purple', 'Green']

4

close_the_bottom_drawer_on_the_left

Scene Understanding

droid_close_the_lid_on_the_bin_13399_q4

In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?

['D', 'E', 'B', 'A', 'C']

4

close_the_lid_on_the_bin

Multiple View

droid_close_the_coffee_marker_4771_q6

The robot is to close the coffee marker. Has the robot successfully completed the task?

['Cannot be determined', 'Yes', 'No', 'Task was not attempted']

1

close_the_coffee_marker

Task State - Success

viola_make_coffee_65_q20

Is the robot's grasp of the coffee stable?

['Yes', 'Partially stable', 'No', 'Cannot be determined']

2

make_coffee

Task State - Grasp

droid_lean_the_metal_object_on_the_right_against_the_wall_1784_q10

The robot's task is to lean the metal object on the right against the wall. Which configuration shows the goal state that the robot should achieve?

['Configuration A', 'Configuration E', 'Configuration B', 'Configuration D', 'Configuration C']

0

lean_the_metal_object_on_the_right_against_the_wall

Task State - Goal

droid_bring_the_clear_bottle_closer_to_the_wall_1476_q4

The robot's task is to bring the clear bottle closer to the wall. Which configuration shows the goal state that the robot should achieve?

['Configuration E', 'Configuration A', 'Configuration B', 'Configuration C', 'Configuration D']

1

bring_the_clear_bottle_closer_to_the_wall

Task State - Goal

viola_arrange_plate_and_fork_37_q17

Is there any obstacle blocking the robot from reaching plate?

['No', 'Partially reachable', 'Yes', 'Cannot be determined']

0

arrange_plate_and_fork

Object State (Reachability)

viola_make_coffee_22_q13

The robot is tasked to closing gripper to grasp the coffee with the coffee. After Closing gripper to grasp the coffee, what will be the robot's NEXT action phase?

['Approaching the coffee with open gripper', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee', 'Closing gripper to grasp the coffee', 'None of the above']

4

make_coffee

Interaction Phase

droid_close_the_kettle_lid_3831_q19

In the image from ext2, which colored point is CLOSEST to the camera?

['Blue', 'Green', 'Purple', 'Yellow', 'Red']

3

close_the_kettle_lid

Scene Understanding

droid_fold_the_towel_once_on_the_table_200_q8

The robot is to fold the towel once on the table. Has the robot successfully completed the task?

['Task was not attempted', 'Cannot be determined', 'Yes', 'No']

3

fold_the_towel_once_on_the_table

Task State - Success

droid_fold_the_towel_on_the_table_4585_q12

In the image from ext2, which colored point is FARTHEST from the camera?

['Purple', 'Blue', 'Red', 'Green', 'Yellow']

1

fold_the_towel_on_the_table

Scene Understanding

droid_make_the_plastic_cup_stand_upright_15083_q35

The robot's task is to make the plastic cup stand upright. Which configuration shows the goal state that the robot should achieve?

['Configuration B', 'Configuration E', 'Configuration D', 'Configuration A', 'Configuration C']

3

make_the_plastic_cup_stand_upright

Task State - Goal

viola_make_coffee_87_q29

The robot is to make coffee. Has the robot successfully completed the task?

['No', 'Task was not attempted', 'Cannot be determined', 'Yes']

0

make_coffee

Task State - Success

viola_arrange_plate_and_fork_28_q53

The robot is tasked to closing gripper to grasp the plate with the plate. After Closing gripper to grasp the plate, what will be the robot's NEXT action phase?

['Moving away with open gripper after releasing the plate', 'Releasing the plate by opening gripper', 'Firmly grasping the plate', 'Approaching the plate with open gripper', 'Closing gripper to grasp the plate']

2

arrange_plate_and_fork

Interaction Phase

droid_close_the_left_cabinet_door_8931_q30

In the image from ext1, which colored point is CLOSEST to the camera?

['Yellow', 'Green', 'Purple', 'Blue', 'Red']

3

close_the_left_cabinet_door

Scene Understanding

droid_hang_the_white_cloth_on_the_black_object_5996_q15

In the image from ext1, which colored point is CLOSEST to the camera?

['Green', 'Blue', 'Red', 'Purple', 'Yellow']

3

hang_the_white_cloth_on_the_black_object

Scene Understanding

droid_close_the_brown_box_3452_q17

The robot's task is to close the brown box. Which configuration shows the goal state that the robot should achieve?

['Configuration A', 'Configuration D', 'Configuration C', 'Configuration E', 'Configuration B']

0

close_the_brown_box

Task State - Goal

droid_close_the_open_cabinet_doors_13942_q13

The robot is to close the open cabinet doors. Has the robot successfully completed the task?

['Yes', 'Task was not attempted', 'No', 'Cannot be determined']

2

close_the_open_cabinet_doors

Task State - Success

viola_make_coffee_81_q57

Is there any obstacle blocking the robot from reaching coffee?

['Yes', 'No', 'Cannot be determined', 'Partially reachable']

1

make_coffee

Object State (Reachability)

droid_close_the_top_drawer_2828_q5

In the image from ext1, which colored point is FARTHEST from the camera?

['Green', 'Blue', 'Yellow', 'Red', 'Purple']

4

close_the_top_drawer

Scene Understanding

viola_arrange_plate_and_fork_18_q4

The robot's task is to arrange plate and fork. Which configuration shows the goal state that the robot should achieve?

['Configuration D', 'Configuration B', 'Configuration A', 'Configuration C', 'Configuration E']

2

arrange_plate_and_fork

Task State - Goal

viola_arrange_plate_and_fork_108_q20

Is the robot's grasp of the plate stable?

['No', 'Cannot be determined', 'Yes', 'Partially stable']

0

arrange_plate_and_fork

Task State - Grasp

droid_fold_the_shirt_3934_q16

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['A', 'B', 'E', 'D', 'C']

4

fold_the_shirt

Multiple View

droid_fold_the_towel_then_unfold_it_13523_q38

In the image from ext1, which colored point is CLOSEST to the camera?

['Purple', 'Yellow', 'Red', 'Green', 'Blue']

1

fold_the_towel_then_unfold_it

Scene Understanding

viola_pick_up_the_bowl_from_the_lazy_susan_and_put_bowl_on_the_plate_119_q52

The robot is tasked to pick up the bowl from the lazy susan and put bowl on the plate. The robot is interacting with the bowl. Which phase of the grasp action is shown in the image?

['Closing gripper to grasp the bowl', 'Approaching the bowl with open gripper', 'Releasing the bowl by opening gripper', 'Firmly grasping the bowl', 'Moving away with open gripper after releasing the bowl']

2

pick_up_the_bowl_from_the_lazy_susan_and_put_bowl_on_the_plate

Interaction Phase

droid_close_the_open_drawer_8692_q24

The robot's task is to close the open drawer. Which configuration shows the goal state that the robot should achieve?

['Configuration D', 'Configuration B', 'Configuration E', 'Configuration A', 'Configuration C']

3

close_the_open_drawer

Task State - Goal

droid_fold_the_towel_from_top_to_bottom_1226_q1

Which language instruction best describes the robot's trajectory shown in the image?

['Drop the box into the table', 'Slide the pen to the right', 'Drop the box into the drawer', 'fold the towel from top to bottom', 'Move the container to the platform']

3

fold_the_towel_from_top_to_bottom

Trajectory Understanding

droid_fold_the_towel_on_the_table_9017_q56

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['C', 'B', 'D', 'E', 'A']

3

fold_the_towel_on_the_table

Multiple View

droid_fold_the_towel_once_1971_q27

The robot's task is to fold the towel once. Which configuration shows the goal state that the robot should achieve?

['None of the above', 'Configuration B', 'Configuration D', 'Configuration E', 'Configuration C']

0

fold_the_towel_once

Task State - Goal

droid_fold_the_cloth_on_the_table_5306_q26

The robot's task is to fold the cloth on the table. Which configuration shows the goal state that the robot should achieve?

['Configuration E', 'Configuration C', 'Configuration B', 'Configuration D', 'Configuration A']

4

fold_the_cloth_on_the_table

Task State - Goal

droid_arrange_some_of_the_tiles_neatly_to_the_left_775_q11

In the image from ext1, which colored point is CLOSEST to the camera?

['Yellow', 'Blue', 'Red', 'Green', 'Purple']

1

arrange_some_of_the_tiles_neatly_to_the_left

Scene Understanding

droid_close_the_open_cabinet_door_6652_q29

In the image from ext1, which colored point is FARTHEST from the camera?

['Green', 'Purple', 'Blue', 'Red', 'Yellow']

1

close_the_open_cabinet_door

Scene Understanding

droid_close_the_door_shut_4180_q1

Which language instruction best describes the robot's trajectory shown in the image?

['Align the door with the surface', 'Push the shut towards the shelf', 'close the door shut', 'Rotate the door clockwise', 'Lift the door upward']

2

close_the_door_shut

Trajectory Understanding

viola_make_coffee_35_q16

Is there any obstacle blocking the robot from reaching coffee?

['Yes', 'Partially reachable', 'No', 'Cannot be determined']

2

make_coffee

Object State (Reachability)

droid_attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color_13876_q72

The robot's task is to attach the discs on the table to the wooden rack making sure to sort them by color. Which configuration shows the goal state that the robot should achieve?

['None of the above', 'Configuration E', 'Configuration D', 'Configuration B', 'Configuration C']

0

attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color

Task State - Goal

droid_hang_the_black_shirt_on_the_backrest_of_the_grey_chair_3748_q2

Which language instruction best describes the robot's trajectory shown in the image?

['Rotate the black shirt clockwise', 'Place the black shirt on the backrest', 'hang the black shirt on the backrest of the grey chair', 'Drop the backrest into the backrest', 'Drop the grey chair into the backrest']

2

hang_the_black_shirt_on_the_backrest_of_the_grey_chair

Trajectory Understanding

viola_make_coffee_24_q58

The robot's task is to make coffee. Which configuration shows the goal state that the robot should achieve?

['Configuration B', 'Configuration A', 'Configuration E', 'Configuration C', 'Configuration D']

1

make_coffee

Task State - Goal

droid_close_the_lid_of_the_flask_4097_q20

The robot is to close the lid of the flask. Has the robot successfully completed the task?

['Yes', 'No', 'Cannot be determined', 'Task was not attempted']

0

close_the_lid_of_the_flask

Task State - Success

droid_attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color_13876_q130

In the image from ext2, which colored point is CLOSEST to the camera?

['Blue', 'Red', 'Green', 'Yellow', 'Purple']

2

attach_the_discs_on_the_table_to_the_wooden_rack_making_sure_to_sort_them_by_color

Scene Understanding

droid_close_the_drawer_7838_q5

In the image from ext1, which colored point is CLOSEST to the camera?

['Yellow', 'Purple', 'Blue', 'Green', 'Red']

1

close_the_drawer

Scene Understanding

droid_close_the_upper_drawer_11307_q3

The robot is to close the upper drawer. Has the robot successfully completed the task?

['Yes', 'No', 'Cannot be determined', 'Task was not attempted']

1

close_the_upper_drawer

Task State - Success

viola_make_coffee_40_q7

Is the robot's grasp of the coffee stable?

['Yes', 'Partially stable', 'Cannot be determined', 'No']

3

make_coffee

Task State - Grasp

droid_close_the_open_cabinet_door_6652_q38

In the image from ext2, which colored point is CLOSEST to the camera?

['Yellow', 'Red', 'Blue', 'Purple', 'Green']

4

close_the_open_cabinet_door

Scene Understanding

droid_fold_the_pink_towel_in_half_12694_q11

In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?

['A', 'B', 'E', 'D', 'C']

0

fold_the_pink_towel_in_half

Multiple View

droid_close_the_drawer_12903_q34

In the image from ext2, which colored point is CLOSEST to the camera?

['Yellow', 'Green', 'Purple', 'Red', 'Blue']

2

close_the_drawer

Scene Understanding

viola_arrange_plate_and_fork_70_q38

The robot is tasked to arrange plate and fork. The robot is interacting with the plate. Which phase of the grasp action is shown in the image?

['Approaching the plate with open gripper', 'Moving away with open gripper after releasing the plate', 'Releasing the plate by opening gripper', 'Firmly grasping the plate', 'Closing gripper to grasp the plate']

3

arrange_plate_and_fork

Interaction Phase

viola_make_coffee_133_q17

Is there any obstacle blocking the robot from reaching coffee?

['Yes', 'Cannot be determined', 'No', 'Partially reachable']

2

make_coffee

Object State (Reachability)

droid_cover_the_colourless_bowl_with_the_white_lid_4615_q20

In the image from ext2, which colored point is CLOSEST to the camera?

['Yellow', 'Red', 'Blue', 'Purple', 'Green']

0

cover_the_colourless_bowl_with_the_white_lid

Scene Understanding

viola_make_coffee_26_q39

The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image?

['Closing gripper to grasp the coffee', 'Approaching the coffee with open gripper', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee', 'Firmly grasping the coffee']

4

make_coffee

Interaction Phase

viola_arrange_plate_and_fork_2_q16

Is the robot's gripper open?

['No', 'Partially open', 'Yes', 'Cannot be determined']

2

arrange_plate_and_fork

Robot State

droid_hang_the_white_and_blue_towel_on_the_stand__remove_the_towel_from_the_stand__hang_the_towel_back_on_the_stand_4429_q46

In the image from ext1, which colored point is FARTHEST from the camera?

['Green', 'Yellow', 'Blue', 'Purple', 'Red']

0

hang_the_white_and_blue_towel_on_the_stand__remove_the_towel_from_the_stand__hang_the_towel_back_on_the_stand

Scene Understanding

droid_empty_the_contents_in_the_cup_into_the_bowl_9525_q10

In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?

['C', 'D', 'B', 'A', 'E']

1

empty_the_contents_in_the_cup_into_the_bowl

Multiple View

droid_fold_the_green_towel_13938_q8

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['B', 'E', 'A', 'D', 'C']

4

fold_the_green_towel

Multiple View

droid_fold_the_towel_on_the_table_4585_q73

In the image from ext2, which colored point is CLOSEST to the camera?

['Yellow', 'Green', 'Red', 'Blue', 'Purple']

2

fold_the_towel_on_the_table

Scene Understanding

droid_close_the_oven_door_10385_q4

In the image from ext1, which colored point is CLOSEST to the camera?

['Blue', 'Yellow', 'Green', 'Purple', 'Red']

3

close_the_oven_door

Scene Understanding

droid_cover_the_pot_3645_q26

In the image from ext2, which colored point is CLOSEST to the camera?

['Red', 'Purple', 'Yellow', 'Green', 'Blue']

4

cover_the_pot

Scene Understanding

viola_make_coffee_26_q32

The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image?

['Releasing the coffee by opening gripper', 'Approaching the coffee with open gripper', 'Closing gripper to grasp the coffee', 'Firmly grasping the coffee', 'Moving away with open gripper after releasing the coffee']

2

make_coffee

Interaction Phase

droid_close_the_top_compartment_of_the_dresser_14867_q1

Which language instruction best describes the robot's trajectory shown in the image?

['Grab the cup with the gripper', 'None of the above', 'Grab the toy with the gripper', 'Align the box with the none', 'Push the block towards the none']

1

close_the_top_compartment_of_the_dresser

Trajectory Understanding

droid_close_the_slider_on_the_top_of_the_cup_14559_q21

The robot's task is to close the slider on the top of the cup. Which configuration shows the goal state that the robot should achieve?

['Configuration B', 'Configuration D', 'Configuration E', 'Configuration C', 'None of the above']

4

close_the_slider_on_the_top_of_the_cup

Task State - Goal

viola_arrange_plate_and_fork_89_q7

The robot is to arrange plate and fork. Has the robot successfully completed the task?

['Task was not attempted', 'No', 'Yes', 'Cannot be determined']

1

arrange_plate_and_fork

Task State - Success

droid_fold_the_towel_5436_q28

The robot is to fold the towel. Has the robot successfully completed the task?

['Yes', 'Task was not attempted', 'No', 'Cannot be determined']

2

fold_the_towel

Task State - Success

droid_fold_the_white_towel_14706_q20

In the image from ext1, which colored point is CLOSEST to the camera?

['Purple', 'Yellow', 'Blue', 'Red', 'Green']

1

fold_the_white_towel

Scene Understanding

droid_cover_the_black_pot_with_the_lid_on_the_table_2482_q6

The robot's task is to cover the black pot with the lid on the table. Which configuration shows the goal state that the robot should achieve?

['Configuration B', 'Configuration E', 'Configuration C', 'Configuration A', 'Configuration D']

3

cover_the_black_pot_with_the_lid_on_the_table

Task State - Goal

droid_attach_the_discs_on_the_table_to_the_wooden_rack_3994_q14

In the image from ext2, which colored point is CLOSEST to the camera?

['Yellow', 'Purple', 'Green', 'Red', 'Blue']

2

attach_the_discs_on_the_table_to_the_wooden_rack

Scene Understanding

viola_make_coffee_131_q30

Is there any obstacle blocking the robot from reaching coffee?

['Partially reachable', 'No', 'Yes', 'Cannot be determined']

1

make_coffee

Object State (Reachability)

droid_get_the_green_marker_from_the_yellow_cup_and_place_it_on_the_table_7662_q4

In the image from ext1, which colored point is FARTHEST from the camera?

['Purple', 'Red', 'Green', 'Yellow', 'Blue']

3

get_the_green_marker_from_the_yellow_cup_and_place_it_on_the_table

Scene Understanding

droid_close_the_open_drawer_on_the_right_filing_cabinet_15282_q11

In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?

['E', 'C', 'D', 'B', 'A']

1

close_the_open_drawer_on_the_right_filing_cabinet

Multiple View

viola_make_coffee_85_q31

The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image?

['Moving away with open gripper after releasing the coffee', 'Approaching the coffee with open gripper', 'Releasing the coffee by opening gripper', 'Firmly grasping the coffee', 'Closing gripper to grasp the coffee']

4

make_coffee

Interaction Phase

viola_make_coffee_130_q52

The robot is tasked to releasing the coffee by opening gripper with the coffee. After Releasing the coffee by opening gripper, what will be the robot's NEXT action phase?

['Approaching the coffee with open gripper', 'Firmly grasping the coffee', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee', 'Closing gripper to grasp the coffee']

3

make_coffee

Interaction Phase

droid_draw_the_curtain_closed_15342_q25

The robot is to draw the curtain closed. Has the robot successfully completed the task?

['Cannot be determined', 'No', 'Task was not attempted', 'Yes']

1

draw_the_curtain_closed

Task State - Success

droid_close_the_coffeemaker_3508_q7

The robot's task is to close the coffeemaker. Which configuration shows the goal state that the robot should achieve?

['Configuration A', 'Configuration D', 'Configuration B', 'Configuration C', 'Configuration E']

0

close_the_coffeemaker

Task State - Goal

droid_hang_the_tongs_on_the_rack_9780_q3

The robot is to hang the tongs on the rack. Has the robot successfully completed the task?

['Yes', 'Task was not attempted', 'Cannot be determined', 'No']

3

hang_the_tongs_on_the_rack

Task State - Success

droid_mix_the_contents_of_the_bowl_with_the_spatula_9999_q35

In the image from ext2, which colored point is FARTHEST from the camera?

['Purple', 'Red', 'Yellow', 'Green', 'Blue']

2

mix_the_contents_of_the_bowl_with_the_spatula

Scene Understanding

droid_hang_the_white_towel_on_the_black_bar_6249_q21

In the image from ext1, which colored point is FARTHEST from the camera?

['Red', 'Green', 'Purple', 'Yellow', 'Blue']

1

hang_the_white_towel_on_the_black_bar

Scene Understanding

viola_make_coffee_111_q49

Is the robot's gripper open?

['Partially open', 'Yes', 'Cannot be determined', 'No']

1

make_coffee

Robot State

viola_arrange_plate_and_fork_32_q6

The robot is tasked to approaching the plate with open gripper with the plate. After Approaching the plate with open gripper, what will be the robot's NEXT action phase?

['Closing gripper to grasp the plate', 'Releasing the plate by opening gripper', 'Firmly grasping the plate', 'Approaching the plate with open gripper', 'Moving away with open gripper after releasing the plate']

0

arrange_plate_and_fork

Robot State

droid_close_the_microwave_door_14389_q3

The robot is to close the microwave door. Has the robot successfully completed the task?

['Task was not attempted', 'Yes', 'Cannot be determined', 'No']

1

close_the_microwave_door

Task State - Success

droid_fold_the_light_blue_sheet_11337_q219

In the image from ext1, which colored point is FARTHEST from the camera?

['Blue', 'Yellow', 'Green', 'Purple', 'Red']

3

fold_the_light_blue_sheet

Scene Understanding

droid_cover_the_silver_pot_with_the_silver_lid_6264_q32

The robot is to cover the silver pot with the silver lid. Has the robot successfully completed the task?

['Yes', 'Task was not attempted', 'No', 'Cannot be determined']

2

cover_the_silver_pot_with_the_silver_lid

Task State - Success

droid_join_the_four_pieces_of_the_black_objects_together_8537_q82

In the image from ext2, which colored point is FARTHEST from the camera?

['Green', 'Red', 'Yellow', 'Blue', 'Purple']

4

join_the_four_pieces_of_the_black_objects_together

Scene Understanding

droid_close_the_top_drawer_of_the_file_cabinet_9097_q2

Which language instruction best describes the robot's trajectory shown in the image?

['Move the file cabinet to the there is no location reference.', 'Push the file cabinet towards the there is no location reference.', 'Move the file cabinet to the none', 'Rotate the drawer clockwise', 'close the top drawer of the file cabinet']

4

close_the_top_drawer_of_the_file_cabinet

Trajectory Understanding

viola_make_coffee_21_q13

The robot is to make coffee. Has the robot successfully completed the task?

['Cannot be determined', 'No', 'Task was not attempted', 'Yes']

1

make_coffee

Task State - Success

droid_close_the_grey_coffeemaker_s_chamber_7334_q23

The robot is to close the grey coffeemaker's chamber. Has the robot successfully completed the task?

['Cannot be determined', 'Yes', 'Task was not attempted', 'No']

3

close_the_grey_coffeemaker_s_chamber

Task State - Success

droid_close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening_15689_q4

The robot's task is to close the shape sorter, pick up an orange cube from the brown box and put it inside the shape sorter using the square shaped opening. Which configuration shows the goal state that the robot should achieve?

['Configuration E', 'Configuration B', 'Configuration A', 'Configuration D', 'Configuration C']

2

close_the_shape_sorter__pick_up_an_orange_cube_from_the_brown_box_and_put_it_inside_the_shape_sorter_using_the_square_shaped_opening

Task State - Goal