banana_bowl_linked.yaml
prompt: droid Pick up the banana and place it in the bowl. Using maple table background. |
banana_bowl.png
object count: 2
|
BananaInBowlTask
Pick up the banana and place it in the bowl
subtask count: 1 |
|
bowls_2_table.png
object count: 2
|
BowlStackingLeftOnRightTask
Stack the left bowl on the right bowl
subtask count: 1 |
|
bowls_2_table.png |
BowlStackingRightOnLeftTask
Stack the right bowl on the left bowl
subtask count: 1 |
butter_raisin_box_linked.yaml
prompt: droid Pick up the butter box and place it on top of the raisin box. Using maple table background |
butter_raisin_box.png
object count: 2
|
ButterAboveRaisinTask
Pick up the butter box and place it on top of the raisin box
subtask count: 1 |
mustard_raisin_box_linked.yaml
prompt: droid Place the mustard on the raisin box. Using maple table background |
mustard_raisin_box.png
object count: 2
|
MustardAboveRaisinTask
Place the mustard on the raisin box.
subtask count: 1 |
rubiks_cube_bowl_linked.yaml
prompt: droid put the rubiks cube in the bowl. Using maple table background |
rubiks_cube_bowl.png
object count: 2
|
RubiksCubeTask
Put the cube in the bowl
subtask count: 1 |
butter_raisin_box_grey_bin_linked.yaml
prompt: droid place the raisin box into the grey bin on the maple table. Other objects on the table as distractors: butter |
butter_raisin_box_grey_bin.png
object count: 3
|
LargerObjectRaisinBoxInBinTask
Place the larger object in the grey bin.
subtask count: 1 |
|
butter_raisin_box_grey_bin.png |
SmallerObjectButterInBinTask
Place the smaller object in the grey bin.
subtask count: 1 |
|
rubiks_cube_banana_bowl.png
object count: 3
|
RubiksCubeOrBananaTask
Put the cube or the banana in the bowl
subtask count: 1 |
rubiks_cube_banana_bowl_linked.yaml
prompt: droid put the banana then the cube in the bowl. Using maple table background |
rubiks_cube_banana_bowl.png |
BananaThenRubiksCubeTask
put the banana then the cube in the bowl
subtask count: 2 |
|
rubiks_cube_banana_bowl.png |
RubiksCubeAndBananaTask
Put the cube and the banana in the bowl
subtask count: 2 |
|
rubiks_cube_banana_bowl.png |
RubiksCubeThenBananaTask
Put the cube then the banana in the bowl
subtask count: 2 |
|
rubiks_cube_banana_bowl.png |
RubiksCubeBehindBowlTask
Put the rubiks cube behind the bowl
subtask count: 3 |
|
rubiks_cube_banana_bowl.png |
RubiksCubeInFrontOfBowlTask
Put the rubiks cube in front of the bowl
subtask count: 3 |
|
rubiks_cube_banana_bowl.png |
RubiksCubeLeftOfBowlTask
Put the rubiks cube to the left of the bowl
subtask count: 3 |
two_bin_linked.yaml
prompt: Two grey bins and a mustard on the maple table. Left grey bin is on the left of the right grey bin. Droid put the mustard in the left bin. |
two_bin.png
object count: 3
|
MustardInLeftBinTask
Put the mustard in the left bin
subtask count: 1 |
|
two_bin.png |
MustardInRightBinTask
Put the mustard in the right bin
subtask count: 1 |
|
blue.png
object count: 3
|
PickUpBluePitcherTask
Pick up the large blue pitcher
subtask count: 2 |
|
rubiks_cube_3.png
object count: 3
|
Stack3RubiksCubeTask
Stack the rubiks cubes in a tower
subtask count: 2 |
bottles_crate_linked.yaml
prompt: Using maple table background. Droid place the bbq sauce bottle into the purple crate on the table. Other objects on the table as distractors: ceramic mug, salad dressing bottle |
bottles_crate.png
object count: 4
|
SauceBottlesCrateTask
Put the red bbq sauce bottle in the crate
subtask count: 1 |
foodpacking_1bin_1box_1can_linked.yaml
prompt: Using maple table background. Droid place the cheez it box into the bin a06 on the table. Other objects on the table as distractors: mustard, tomato soup can |
foodpacking_1bin_1box_1can.png
object count: 4
|
FoodPacking1BoxesTask
Pack boxed foods into the bin
subtask count: 1 |
|
foodpacking_1bin_1box_1can.png |
FoodPacking1CansTask
Pack canned foods into the bin
subtask count: 1 |
|
green.png
object count: 4
|
PickUpGreenObjectTask
Pick up the green vegetable block
subtask count: 2 |
|
colored_blocks.png
object count: 4
|
BlockStackingOrderAgnosticTask
Stack the blocks into a tower
subtask count: 3 |
|
colored_blocks.png |
BlockStackingSpecifiedOrderTask
Stack the blocks in the order from bottom to top: red, blue, green, yellow
subtask count: 3 |
bagel_plate_banana_bowl_linked.yaml
prompt: droid pick up the banana and put it on the plate. Using maple table background. Other objects on the table as distractors: two bagels, bowl |
bagel_plate_banana_bowl.png
object count: 5
|
BananaOnPlateTask
Pick up the banana and put it on the plate
subtask count: 1 |
|
bagel_plate_banana_bowl.png |
BagelsOnPlateTask
Put the bagels on the plate
subtask count: 2 |
bin_mug_marker_bowl_linked.yaml
prompt: droid put the bowl in the grey bin. Using maple table background. Other objects on the table as distractors: mustard, dry erase marker, mug |
bin_mug_mustard_marker_bowl.png
object count: 5
|
BowlInBinTask
put the bowl in the grey bin
subtask count: 1 |
|
shelf_mugs_jug_bowl.png
object count: 5
|
PutBowlOnShelfTopTask
Put the serving bowl anywhere on the shelf in front of you
subtask count: 1 |
|
shelf_mugs_jug_bowl.png |
PutMugsOnShelfTask
Put the two mugs on the shelf
subtask count: 2 |
|
mugs_on_shelf.png
object count: 5
|
TakeMugsOffOfShelfTask
Take the mugs off the shelf
subtask count: 2 |
|
rubiks_cube_banana_bowl_mug_bin.png
object count: 5
|
RedDishesInBinTask
Put the red dishware in the grey bin
subtask count: 2 |
|
rubiks_cube_banana_bowl_mug_bin.png |
RedItemsInBinTask
Put all the red things in the grey bin
subtask count: 2 |
|
rubiks_cube_banana_bowl_mug_bin.png |
RubiksCubeRightOfBowlTask
Put the rubiks cube to the right of the bowl
subtask count: 3 |
|
bananas_5_grey_bin.png
object count: 6
|
BananasInBinOneMoreTask
Put one (1) more bananas in the grey bin.
subtask count: 1 |
|
bananas_5_grey_bin.png |
BananasInBinThreeTotalTask
Make sure there are 3 (three) bananas in the grey bin.
subtask count: 1 |
|
bananas_5_grey_bin.png |
BananasOutOfBinTask
Take the bananas out
subtask count: 2 |
|
bananas_5_in_crate.png
object count: 6
|
BananasInCrateTask
Put 2 bananas in the crate
subtask count: 1 |
tools_container_linked.yaml
prompt: Two bins on maple table. container_f24 bin is on the left of bin_b04 bin. droid put the spring clamp in the right bin. Other objects on the table as distractors: two hammers, cordless drill |
tools_container.png
object count: 6
|
ClampInRightBinTask
Put the spring clamp in the right bin
subtask count: 1 |
|
tools_container.png |
HammersInLeftBinTask
Put the red hammer and black hammer in the left bin
subtask count: 2 |
|
tools_container.png |
NonHammerToolsInRightBinTask
Put the non-hammer tools in the right bin
subtask count: 2 |
|
tools_container.png |
ToolOrganizationBothTask
Put hammers in the right bin and do not touch anything else
subtask count: 2 |
|
tools_container.png |
ToolOrganizationTask
Put the red hammer and black hammer in the left bin
subtask count: 2 |
|
foodpacking_1bin_2box_2can.png
object count: 6
|
FoodPacking2BoxesTask
Pack boxed foods into the bin
subtask count: 2 |
|
foodpacking_1bin_2box_2can.png |
FoodPacking2CansTask
Pack canned foods into the bin
subtask count: 2 |
|
mugs4_measuringcup_drill_bowl.png
object count: 7
|
PickDrillTask
Pick up the cordless drill.
subtask count: 1 |
|
mugs4_measuringcup_drill_bowl.png |
ReorientRedMugTask
Put the red mug upright so that the opening is facing upwards.
subtask count: 1 |
|
mugs4_measuringcup_drill_bowl.png |
StackWhiteMugsTask
Stack the white mugs on top of each other.
subtask count: 2 |
|
mugs4_measuringcup_drill_bowl.png |
ReorientAllMugsTask
Reorient all the mugs upright so that the opening is facing upwards.
subtask count: 3 |
|
mugs4_measuringcup_drill_bowl_v2.png
object count: 7
|
ReorientWhiteMugsTask
Make sure all the white mugs are upright so that the opening is facing upwards.
subtask count: 1 |
|
mugs4_measuringcup_drill_bowl_v2.png |
TakeMeasuringSpoonOutTask
Take the white colored measuring spoon out of the red bowl and put it on the table.
subtask count: 1 |
|
shelf_with_cleaning_products.png
object count: 8
|
OneBottleInSquarePailTask
Put any white plastic bottle in the square pail
subtask count: 1 |
|
shelf_with_cleaning_products.png |
OneBottleOnShelfTask
Put any white plastic bottle on the shelf
subtask count: 1 |
|
shelf_with_cleaning_products.png |
ReorientJugTask
Stand the jug upright
subtask count: 1 |
|
shelf_with_cleaning_products.png |
JugsOnShelfTask
Put all the jugs on the shelf
subtask count: 2 |
|
shelf_with_cleaning_products.png |
PlasticBottlesInSquarePailTask
Put all the small plastic bottles in the square pail
subtask count: 3 |
|
wire_shelf_mugs_plate_spatula.png
object count: 8
|
TakeSpatulaOffShelfTask
Take the spatula off the shelf and put it on the table
subtask count: 1 |
|
wire_shelf_mugs_plate_spatula.png |
PutTwoMugsOnShelfTask
Put two (2) mugs on the wire shelf
subtask count: 2 |
|
cartons_in_crate.png
object count: 8
|
RecycleCartonTask
Put the recyclable cartons in the grey bin
subtask count: 2 |
|
cartons_in_vertical_crate.png
object count: 8
|
RecycleCartonsVerticalCrateTask
Put the cartons that can be recycled in the vertical crate
subtask count: 2 |
|
cartons_on_box.png
object count: 8
|
RecycleCartonsOnBoxTask
Put the cartons that can be recycled on the box
subtask count: 2 |
|
mug_banana_ketchup_bowl_rubiks3_bin.png
object count: 8
|
UnstackRubiksCubeTask
Unstack the rubiks cube tower
subtask count: 2 |
|
mug_banana_ketchup_bowl_rubiks3_bin.png |
YellowAndWhiteObjectsInBinTask
Put all white objects and yellow objects in the grey bin
subtask count: 2 |
|
foodpacking_1bin_3box_3can.png
object count: 8
|
FoodPacking3BoxesTask
Pack boxed foods into the bin
subtask count: 3 |
|
foodpacking_1bin_3box_3can.png |
FoodPacking3CansTask
Pack canned foods into the bin
subtask count: 3 |
|
objects_around_table.png
object count: 8
|
WhiteMugInCenterOfTableTask
Put the white mug in the center of the table.
subtask count: 3 |
|
food_packing.png
object count: 9
|
FoodPackingByColorTask
Pack yellow objects in right container and blue object in the left container
subtask count: 2 |
|
mugs2_bananas2_ketchup_rubiks3_bin.png
object count: 10
|
WhiteMugsInBinTask
Clean up the white mugs
subtask count: 2 |
|
mugs2_bananas2_ketchup_rubiks3_bin.png |
DishesInBinTask
Put the dishware in the grey bin
subtask count: 3 |
|
tools_picking.png
object count: 11
|
ToolsPickingDrillTask
Select the cordless drill and put it on the table
subtask count: 1 |
|
tools_picking.png |
ToolsPickingHammerTask
Select the blue hammer and put it on the table
subtask count: 1 |
|
tools_picking.png |
ToolsPickingAllHammersTask
Take out all the hammers and put them on the table
subtask count: 4 |
|
toys_cleanup.png
object count: 11
|
AnimalsInBinTask
Put the lizards in the bin
subtask count: 2 |
|
toys_cleanup.png |
StackYellowOnRedTask
Stack the yellow block on the red block
subtask count: 2 |
|
toys_cleanup.png |
RubiksCubesInBinTask
Sort all rubiks cubes into the bin
subtask count: 3 |
|
toys_cleanup.png |
BlocksInBinTask
Sort all colored blocks into the bin
subtask count: 4 |
|
toys_cleanup.png |
CubesAndBlocksInBinTask
Put all the cubes and blocks in the bin
subtask count: 7 |
|
toys_cleanup.png |
CleanUpToysTask
Clean up all the smaller toys and leave the birdhouse on the table
subtask count: 9 |
|
bin_condiments.png
object count: 12
|
CannedFoodInBinTask
Put the canned food in the grey bin
subtask count: 1 |
bin_condiments_linked.yaml
prompt: Using maple table background: droid place the coffee pot into the grey bin on the table. Other objects on the table as distractors: mug, mustard, bowl, ranch dressing, two bbq sauce bottles, oatmeal raisin cookies, canned tuna, soft scrub, wood block |
bin_condiments.png |
CoffeePotInBinTask
Put the coffee pot in the grey bin
subtask count: 1 |
|
bin_condiments.png |
BBQSauceInBinTask
Put the red BBQ sauce bottles in the grey bin
subtask count: 2 |
|
bin_condiments.png |
CondimentsInBinTask
Sort the sauce condiments into the grey bin
subtask count: 4 |
|
ladle_pot.png
object count: 13
|
PinkSpoonInPotTask
Put the pink spaghetti spoon in the pot
subtask count: 1 |
|
ladle_pot.png |
GreenSpoonsInPotTask
Put the green spoons in the pot
subtask count: 3 |
|
ladle_pot.png |
SpoonsInPotTask
Put all of the serving spoons with no holes in the pot
subtask count: 3 |
|
workdesk_bin.png
object count: 13
|
KeyboardOutOfBinTask
Take the keyboard out of the bin and put it on the table
subtask count: 1 |
|
workdesk_bin.png |
PhoneOrRemoteInBinTask
Put the phone or the remote in the grey bin
subtask count: 1 |
|
workdesk_bin.png |
SmartphoneInBinTask
Put the smartphone in the grey bin
subtask count: 1 |
|
workdesk_bin.png |
SpoonInMugTask
Put the metal spoon that’s in the wooden bowl in the mug
subtask count: 1 |
workdesk_bin_linked.yaml
prompt: Using maple table background. Droid place the lizard figurine into the grey bin on the table. Other objects on the table as distractors: ceramic mug, glasses, marker, remote control, smartphone, wooden bowl, spoon big, computer mouse, yogurt cup and granola bar. |
workdesk_bin.png |
ToyInBinTask
Put the lizard away in the bin
subtask count: 1 |
|
workdesk_bin.png |
ElectronicsInBinTask
Put the electronic devices in the grey bin
subtask count: 4 |
|
workdesk_bin.png |
BlackItemsInBinTask
Put the black items in the grey bin
subtask count: 5 |
workdesk_snacks_linked.yaml
prompt: Using maple table background. droid place the apple into the plasticpail on the table. Other objects on the table as distractors: ceramic mug, glasses, keyboard, marker, remote control, smartphone, wooden bowl, spoon big, computer mouse, yogurt cup and pitcher |
workdesk_snacks.png
object count: 13
|
ThrowAwayAppleTask
Throw away the apple
subtask count: 1 |
|
workdesk_snacks.png |
AppleAndYogurtInBowlTask
Put the apple and yogurt in the bowl
subtask count: 2 |
|
workdesk_snacks.png |
ThrowAwaySnacksTask
Put away the snacks in the bin
subtask count: 2 |
|
workdesk.png
object count: 14
|
MarkerInMugTask
Put the whiteboard marker in the mug
subtask count: 1 |
workdesk_linked.yaml
prompt: Using maple table background. Droid place the computer mouse into the keyboard on the table. Other objects on the table as distractors: ceramic mug, glasses, lizard figurine, marker, remote control, rubiks cube, smartphone, wooden bowl, big spoon, yogurt cup, oatmeal raisin cookies and granola bar |
workdesk.png |
MouseOnKeyboardTask
Put the computer mouse on the keyboard
subtask count: 1 |
|
workdesk.png |
PickGlassesTask
Pick up the eye glasses
subtask count: 2 |
|
cooking_table.png
object count: 15
|
CookingPickPastaToolTask
Move the pink tool from this utensil container to the other utensil holder
subtask count: 1 |
|
cooking_table.png |
CookingClearPlateTask
Put the two measuring cups outside of the plate
subtask count: 2 |
|
cooking_table.png |
PickOrangeObjectTask
Pick up the orange measuring cup
subtask count: 2 |
|
fruits_out_of_basket.png
object count: 15
|
FruitsGreenLimesOnPlateTask
Put all the green fruit on the plate
subtask count: 2 |
|
fruits_out_of_basket.png |
FruitsOrangesOnPlateTask
Put all the oranges on the plate
subtask count: 2 |
|
fruits_out_of_basket.png |
FruitsOnPlate3Task
Put three (3) fruits on the plate
subtask count: 3 |
|
fruits_out_of_basket.png |
FruitsOnPlateTask
Put all the fruits on the plate
subtask count: 7 |
|
fruits_in_basket.png
object count: 16
|
FruitsMovingOrangeOrLimeTask
Move an orange or a lime to the wood bowl
subtask count: 1 |
|
fruits_in_basket.png |
FruitsMovingTask
Move an orange to the white bowl
subtask count: 1 |
|
fruits_in_basket.png |
FruitsOnionTask
Put the onion in the wood bowl
subtask count: 1 |
|
fruits_in_basket.png |
FruitsOnionToPlateTask
Put the onion on the plate
subtask count: 1 |
|
fruits_in_basket.png |
WoodSpatulaToBowlTask
Put the wooden spatula in the bowl
subtask count: 1 |
clutter_fruit_bottle_bluebin_linked.yaml
prompt: Using a maple table background. There are two pumpkins on the table, a larger one and a smaller one. Droid picks and places the pumpkin large into the blue bin on the table. Other objects on the table as distractors: two lemons, two limes, two oranges, a pomegranate, white packer bottle, avocado, crabbypenholder, serving_bowl, utilityjug and red_onion |
clutter_fruit_bottle_bluebin.png
object count: 17
|
BigPumpkinInBinTask
Put the bigger pumpkin in the bin
subtask count: 1 |
|
clutter_fruit_bottle_bluebin.png |
SmallPumpkinInBinTask
Put the small pumpkin in the bin
subtask count: 1 |
|
clutter_fruit_bottle_bluebin.png |
ClutterPumpkinTask
Put all the pumpkins away in the bin
subtask count: 2 |
|
clutter_fruit_bottle_bluebin.png |
ClutterPlasticTask
Put all plastic bottles away in the bin
subtask count: 3 |
|
clutter_fruit_bottle_bluebin.png |
ClearOrganicObjectsTask
Clear away the organic objects
subtask count: 11 |
|
breakfast_table.png
object count: 19
|
GrabABagelTask
Grab a bagel
subtask count: 1 |
|
breakfast_table.png |
GrabAFruitTask
Pick up a fruit
subtask count: 1 |
|
breakfast_table.png |
YogurtInBowlTask
Put the small red yogurt in the red bowl
subtask count: 1 |
|
breakfast_table.png |
MoveBananaToBagelPlateTask
Move the bananas to the bagel plate
subtask count: 2 |
|
breakfast_table.png |
UtensilsInMugTask
Put the fork and spoon in the ceramicmug
subtask count: 2 |
