generated_task stringlengths 54 614 | added_objects_and_target_furnitures stringlengths 0 555 | reference_plan stringlengths 22 1.99k | persona_idx int64 4 1.68k | scene_idx int64 1 246 | scene_graph dict | file_name stringclasses 5
values | context stringlengths 18 321 ⌀ | task_generate_update_scene_graph bool 2
classes |
|---|---|---|---|---|---|---|---|---|
Take your backpack and water bottle from the bedroom, bring your lunch box from the kitchen cabinet, and place everything on the bench in the entryway for an easy grab before leaving. | [(backpack_1, bed_21)] | [navigate(bedroom_1), pick(backpack_1), navigate(entryway_1), place(backpack_1, bench_18), navigate(bedroom_1), pick(bottle_2), navigate(entryway_1), place(bottle_2, bench_18), navigate(kitchen_1), open(cabinet_45), pick(lunch_box_12), close(cabinet_45), navigate(entryway_1), place(lunch_box_12, bench_18)] | 532 | 211 | {
"furnitures": [
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"components": null,
"name": "floor_closet_1",
"states": null
},
{
"componen... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n3m4.jsonl | Early morning on a school day; getting ready and keeping things organized. | true |
Refresh all houseplants: collect the plant saucer from the kitchen, fill a jug with water from the bathroom, water the plants in the living room and bedroom, place the plant saucer on the kitchen table, and wipe down plant leaves using a spray bottle from the bathroom and a sponge from the kitchen. Clean up and store t... | [(plant_saucer_11, table_18), (sponge_12, kitchen_1)] | [navigate(kitchen_1), pick(plant_saucer_21), place(table_18), pick(sponge_12), place(cabinet_30), navigate(bathroom_1), pick(jug_5), fill(jug_5), pick(spray_bottle_15), place(table_16), navigate(living_room_1), water(plants, jug_5), clean(leaves, spray_bottle_15), navigate(bedroom_1), water(plants, jug_5), clean(leaves... | 28 | 151 | {
"furnitures": [
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_closet_2",
"states": null
},
{
"componen... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n5m8.jsonl | It's Saturday afternoon, and the weather is perfect for a plant care day across the home before a guest visit. | false |
Gather and pack a basket with plates, cups, and a bottle from the kitchen, as well as a bath towel from the bathroom. Collect sunglasses (spectacles) and a hat from the closet. Add a children’s book and a stuffed toy from the bedroom. Move everything to the porch for loading into the car. | [(basket_19, cabinet_25), (plate_79, cabinet_18), (cup_88, cabinet_18), (bottle_37, cabinet_18), (bath_towel_56, floor_bathroom_1), (spectacles_27, shelves_27), (hat_24, shelves_27), (book_17, bed_16), (stuffed_toy_27, bed_26)] | [navigate(kitchen_1), pick(plate_79), place(plate_79, basket_19), pick(cup_88), place(cup_88, basket_19), pick(bottle_37), place(bottle_37, basket_19), navigate(bathroom_1), pick(bath_towel_56), place(bath_towel_56, basket_19), navigate(closet_1), pick(spectacles_27), place(spectacles_27, basket_19), pick(hat_24), plac... | 258 | 96 | {
"furnitures": [
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_closet_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"compo... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n5m8.jsonl | A hot summer afternoon; the teacher is preparing for a family picnic. | true |
Bring a teapot from the office to the dining table, place two cups from the kitchen on the dining table, fetch a box of teabags from the closet, and clean the table before setting everything up. | [(teapot_30, table_34), (cup_34, table_34), (cup_35, table_34), (teabag_box_1, table_34)] | [navigate(office_1), pick(teapot_30), navigate(dining_room_1), place(teapot_30, table_34), navigate(kitchen_1), pick(cup_34), navigate(dining_room_1), place(cup_34, table_34), navigate(kitchen_1), pick(cup_35), navigate(dining_room_1), place(cup_35, table_34), navigate(closet_1), pick(teabag_box_1), navigate(dining_roo... | 1,038 | 51 | {
"furnitures": [
{
"components": null,
"name": "floor_closet_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_office_1",
"states": null
},
{
"components... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n3m4.jsonl | Mid-December weekday afternoon. Preparing for a special herbal tea session with her son. | true |
Prepare for making handmade steamed buns: Bring a bowl, spatula, and spoon to the kitchen counter, clean and set a kettle and glass on the dining table, gather a hand towel from laundryroom for kitchen use, and place a fresh tray with a cup in the lounge. | [(bowl_600, counter_41), (spatula_601, counter_41), (spoon_602, counter_41), (glass_603, table_26), (tray_604, lounge_1), (cup_605, tray_604), (hand_towel_606, kitchen_1)] | [navigate(kitchen_1), place(bowl_600, counter_41), place(spatula_601, counter_41), place(spoon_602, counter_41), navigate(kitchen_1), pick(kettle_18), clean(kettle_18), navigate(dining_room_1), place(kettle_18, table_26), navigate(dining_room_1), place(glass_603, table_26), navigate(laundryroom_1), pick(hand_towel_606)... | 478 | 226 | {
"furnitures": [
{
"components": null,
"name": "floor_garage_1",
"states": null
},
{
"components": null,
"name": "floor_laundryroom_1",
"states": null
},
{
"components": null,
"name": "floor_tv_1",
"states": null
},
{
"components... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n5m8.jsonl | Saturday late morning, chilly weather. | false |
After reading in bed on a quiet Saturday, place your book and spectacles on the chest of drawers so you can easily find them in the morning. | [(book_28, chest_of_drawers_26), (spectacles_29, chest_of_drawers_26)] | [navigate(bedroom_1), add(book_28, chest_of_drawers_26), add(spectacles_29, chest_of_drawers_26)] | 43 | 121 | {
"furnitures": [
{
"components": null,
"name": "floor_closet_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"compo... | GENERATE_TASK_USER_PROMPT_TEMPLATE_ACTION_CONSTRAINT.jsonl | null | true |
Clean the bedroom before guests arrive for Spring Festival by collecting all toys and stuffed animals, returning them to bedroom storage or display. | [navigate(bedroom_2), pick(stuffed_toy_23), navigate(chest_of_drawers_34), place(stuffed_toy_23, chest_of_drawers_34), navigate(bedroom_2), pick(toy_animal_14), navigate(chest_of_drawers_34), place(toy_animal_14, chest_of_drawers_34), navigate(bedroom_2), pick(action_figure_7), navigate(cabinet_43), place(action_figure... | 1,262 | 131 | {
"furnitures": [
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"components": null,
"name": "floor_other_room_1",
"states": null
},
{
"comp... | GENERATE_TASK_USER_PROMPT_TEMPLATE_LONG_HORIZON_TASK_TEMPLATE.jsonl | null | true | |
On a sunny festival day, prepare my DIY gadget supplies by collecting tape, scissors, and a box from the closet and placing them on the office_1 desk. | [(tape_1, table_38), (scissors_1, table_38), (box_8, table_38)] | [navigate(closet_1), open(chest_of_drawers_41), pick(tape_1), navigate(office_1), place(tape_1, table_38), navigate(closet_1), pick(scissors_1), navigate(office_1), place(scissors_1, table_38), pick(box_8), navigate(office_1), place(box_8, table_38), close(chest_of_drawers_41)] | 173 | 161 | {
"furnitures": [
{
"components": null,
"name": "floor_office_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"compo... | GENERATE_TASK_USER_PROMPT_TEMPLATE_ACTION_CONSTRAINT.jsonl | null | true |
Prepare a hot bowl of instant noodles: Bring a bowl, a fork, and an instant noodle packet from the kitchen to the bathroom, fill the electric kettle with water and power it on, pour hot water into the bowl, grab your cellphone and a candle from the bedroom for relaxation, and bring a hand towel from the laundry room. | [(bowl_2, table_37), (fork_1, table_37), (instant_noodles_2, table_37), (electric_kettle_1, cabinet_39), (candle_1, table_37), (hand_towel_3, table_37)] | [navigate(kitchen_1), pick(bowl_2), navigate(bathroom_1), place(bowl_2, table_37), navigate(kitchen_1), pick(fork_1), navigate(bathroom_1), place(fork_1, table_37), navigate(kitchen_1), pick(instant_noodles_2), navigate(bathroom_1), place(instant_noodles_2, table_37), navigate(kitchen_1), pick(electric_kettle_1), fill(... | 1,371 | 186 | {
"furnitures": [
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_other_room_1",
"states": null
},
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n4m6.jsonl | Rainy autumn evening, 10 PM. Preparing quick instant noodles and winding down with a mobile game in the bath. | true |
On a Monday morning, power on the electric kettle in the kitchen, prepare a cup of coffee, and place it on the office cabinet to enjoy during work. | [(electric_kettle_3, cabinet_36), (coffee_cup_1, kitchen_1)] | [navigate(kitchen_1), pick(electric_kettle_3), navigate(kitchen_1), place(electric_kettle_3, cabinet_36), power_on(electric_kettle_3), navigate(kitchen_1), pick(coffee_cup_1), fill(coffee_cup_1, electric_kettle_3), navigate(office_1), place(coffee_cup_1, cabinet_39)] | 741 | 126 | {
"furnitures": [
{
"components": null,
"name": "floor_toilet_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_kitchen_1",
"states": null
},
{
"compo... | GENERATE_TASK_USER_PROMPT_TEMPLATE_LONG_HORIZON_TASK_TEMPLATE.jsonl | null | false |
Collect fresh kitchenware and ingredients from the kitchen and living room, set the table in the dining area, place fruit and tea on the table, then tidy up toys and electronics in the bedrooms, hallway, and entryway before breakfast. | [(bowl_1, cabinet_39), (cup_2, cabinet_57), (plate_3, counter_19), (teapot_4, table_10), (apple_5, fridge_58), (toy_fruits_6, shelves_26), (laptop_7, chest_of_drawers_54), (stuffed_toy_8, bench_51)] | [navigate(kitchen_1), open(cabinet_39), pick(bowl_1), navigate(living_room_1), place(bowl_1, table_10), navigate(kitchen_1), open(cabinet_57), pick(cup_2), navigate(living_room_1), place(cup_2, table_10), navigate(kitchen_1), open(counter_19), pick(plate_3), navigate(living_room_1), place(plate_3, table_10), navigate(l... | 1,307 | 186 | {
"furnitures": [
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_other_room_1",
"states": null
},
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n5m8.jsonl | Sunday morning in spring, the family is preparing for a big breakfast together at home. | true |
Prepare popcorn bowls and soft drinks in the kitchen, bring them to the living room coffee table. Collect any misplaced remote controls and handheld gaming devices from the bedroom and dining room, bring them to the living room. Set up extra pillows from the bedroom and foyer for comfort on the couches. | [(popcorn_bowl_30, counter_19), (soft_drink_bottle_31, fridge_50), (remote_control_32, table_54), (pillow_33, chest_of_drawers_39)] | [navigate(kitchen_1), pick(popcorn_bowl_30), navigate(living_room_1), place(popcorn_bowl_30, table_32), navigate(kitchen_1), pick(soft_drink_bottle_31), navigate(living_room_1), place(soft_drink_bottle_31, table_32), navigate(bedroom_2), pick(remote_control_32), navigate(living_room_1), place(remote_control_32, table_3... | 480 | 11 | {
"furnitures": [
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_hallway_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"comp... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n4m6.jsonl | Friday night family movie time, before the Spring Festival. | true |
Bring a cup from the living room, use the electric kettle in the kitchen to boil hot water, and pour it into the cup. Take a fresh bath towel and soap dispenser from the laundry and set them up in bathroom_5. Return any used hand towel from the bathroom to the laundryroom for washing. | [(electric_kettle_1, cabinet_65), (bath_towel_2, washer_dryer_30)] | [navigate(living_room_1), pick(cup_2), navigate(kitchen_1), open(cabinet_65), pick(electric_kettle_1), power_on(electric_kettle_1), fill(electric_kettle_1), power_off(electric_kettle_1), pour(electric_kettle_1), pick(bath_towel_2), navigate(bathroom_5), place(bath_towel_2, floor_bathroom_5), pick(soap_dispenser_23), na... | 472 | 206 | {
"furnitures": [
{
"components": null,
"name": "floor_entryway_1",
"states": null
},
{
"components": null,
"name": "floor_other_room_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n4m6.jsonl | Monday morning, before breakfast, maintaining health routines. | true |
Hide a toy animal in the hallway drawer, a board game on the living room couch, a small bottle in the porch basket, a box in the bathroom, a stuffed toy under the bedroom bed, a book in the lounge, an apple on the kitchen table, and a pencil case under the outdoor bench. | [(apple_2, table_26), (basket_1, porch_1)] | [navigate(bedroom_1), pick(toy_animal_9), navigate(hallway_1), open(chest_of_drawers_45), place(toy_animal_9, chest_of_drawers_45), close(chest_of_drawers_45), navigate(living_room_1), pick(board_game_21), place(board_game_21, couch_17), navigate(kitchen_1), pick(bottle_24), navigate(porch_1), open(basket_1), place(bot... | 763 | 76 | {
"furnitures": [
{
"components": null,
"name": "floor_porch_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"compon... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n5m8.jsonl | It's the evening before Children's Day, and the child is helping set up a treasure hunt at home, scattering toys and snacks in various rooms. | false |
Gather a laptop from the office, a folder from the bedroom, a backpack from the closet, and a pencil case from the laundry room; place them on the office desk as I prepare for a busy period. | [(laptop_1, table_36), (folder_2, table_36), (backpack_1, table_36), (pencil_case_3, table_36)] | [navigate(office_1), pick(laptop_1), navigate(office_1), place(laptop_1, table_36), navigate(bedroom_2), pick(folder_2), navigate(office_1), place(folder_2, table_36), navigate(closet_1), pick(backpack_1), navigate(office_1), place(backpack_1, table_36), navigate(laundryroom_1), pick(pencil_case_3), navigate(office_1),... | 84 | 96 | {
"furnitures": [
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_closet_1",
"states": null
},
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"compo... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n3m4.jsonl | It's the start of the new semester and I want to organize supplies. | true |
Prepare healthy snacks for kids: bring apples and a bowl from kitchen, a bottle of juice from fridge, and a toy construction set from bedroom 2 to the outdoor table. | [(apple_47, cabinet_56), (bottle_48, fridge_57), (bowl_49, cabinet_55), (toy_construction_set_50, bedroom_2)] | [navigate(kitchen_1), open(cabinet_56), pick(apple_47), navigate(outdoor_1), place(apple_47, floor_outdoor_1), navigate(kitchen_1), open(fridge_57), pick(bottle_48), navigate(outdoor_1), place(bottle_48, floor_outdoor_1), navigate(kitchen_1), open(cabinet_55), pick(bowl_49), navigate(outdoor_1), place(bowl_49, floor_ou... | 1,613 | 216 | {
"furnitures": [
{
"components": null,
"name": "floor_outdoor_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_2",
"states": null
},
{
"componen... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n3m4.jsonl | Sunday afternoon, warm weather, children playing outside. | false |
On a busy weekday, organize the entryway by placing scattered shoes into a basket and tidying backpacks onto the stool for easy access. | [(shoe_1, basket_1)] | [navigate(entryway_1), pick(shoe_1), navigate(basket_1), place(shoe_1, basket_1), navigate(stool_8), pick(backpack_26), navigate(stool_8), place(backpack_26, stool_8)] | 1,200 | 26 | {
"furnitures": [
{
"components": null,
"name": "floor_living_room_1",
"states": null
},
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"com... | GENERATE_TASK_USER_PROMPT_TEMPLATE_ACTION_CONSTRAINT.jsonl | null | false |
Declutter the living room and dining room tables, return stray items to the closet, and replace the air purifier’s water in the bathroom to keep things tidy and the air clean. | [(canister_1, shelves_43), (box_2, cabinet_51), (bottle_3, bathroom_1)] | [navigate(living_room_1), pick(box_4), navigate(closet_1), open(shelves_43), place(box_4, shelves_43), navigate(dining_room_1), pick(bottle_2), navigate(closet_2), open(cabinet_51), place(bottle_2, cabinet_51), navigate(bathroom_1), fill(bottle_3), power_on(bottle_3)] | 1,392 | 211 | {
"furnitures": [
{
"components": null,
"name": "floor_bedroom_1",
"states": null
},
{
"components": null,
"name": "floor_bathroom_1",
"states": null
},
{
"components": null,
"name": "floor_closet_1",
"states": null
},
{
"componen... | GENERATE_TASK_USER_PROMPT_TEMPLATE_SPECIFY_ROOM_AND_OBJECT_NUM_WITH_CONTEXT_n3m4.jsonl | It's a rainy Saturday afternoon in Shenzhen, and you want to refresh the apartment before your friends return from a weekend trip. | false |
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